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Regarding the application of servo: First of all, you have to determine what occasion you are using. If it is used on the machine tool, the hardware of the control part can be designed relatively simple, and the cost is correspondingly lower. If it is used in military industry, the control algorithm should be more flexible when designing the internal firmware, such as providing position loop filtering, velocity loop filtering, nonlinear, optimization or intelligent algorithm. Of course it does not need to be implemented on a hardware part. Object-oriented can be made into several types of products.
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