![](bg8.png)
Currents
P hase Current
C om m ands
x
Position
Feedback
C ontrol
Waveform
G enerator
Reference
Position
x
ref
Servo
Am plifier
Linear
Motor
Feedforward
C ontrol
u
fb
u
ff
e
u
B
u
A
i
A
i
B
i
C
Figure 11: Controller design
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