Control Systems — question 5 of 10
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A motor position controller uses a PI loop. You command a large step move across most of the travel range. The motor's PWM output saturates at maximum for a good chunk of the move (it's just going as fast as it can). When it finally reaches the target, it overshoots noticeably and oscillates for a couple seconds before settling, even though the same controller handles small step moves cleanly with no overshoot. What's going on, and what would you change?