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Outher loop control


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Hello everyone.


I'm working on a system (mirror bender) that is composed of two motors, each one with an encoder. The focus of this mirror is given by the relationship between these two motors. Then I created a kinematic to control angle between the motors and the offset from zero position. However is not linear because the mechanics and hysteresis.


To compensate this, there is a capacitive sensor (+/- 10 V) monitoring the gap to the mirror.


I would like to create an external control to observe the position of the capacitive sensor at the end of eacth the movement and send a new set point to the motors, repeating this process until the final position is within an acceptable error (trial and check the error).


Is it possible to implement this type of solution? How can I do?

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