I. Semi{1}}Ivaliwe{2}}I-Loop Control
Ama-opharetha alungisa amapharamitha angukhiye-njengokucindezela komjovo, isivinini, kanye ne-stroke{1}}ngesixhumi esibonakalayo sokulawula. Isofthiwe yesistimu yokulawula iqapha imingcele yangempela yenqubo yomjovo isebenzisa izinzwa kanye nama-servo motors okuthutha. Ibonisa kokubili amapharamitha wangempela kanye nejika lomjovo, iqhathanise amanani alinganisiwe ngokumelene nokuhlosiwe okusethiwe. Phakathi nomjikelezo wokufa olandelayo-wokusakaza, isistimu ilungisa i-die-amapharamitha okusakaza{7}}kakhulukazi ngokulawula izinga lokuvula lamavalvu okulawula{8}}ukuze asondeze kulokho okuhlosiwe okufunayo. I-stroke yomjovo ivamise ukulawulwa ngezigaba ezimbili noma ezintathu (okuhlanganisa umsebenzi wokwehlisa ijubane ekupheleni kwe-stroke), iqinisekisa ukuthi ijika langempela lomjovo liqondana eduze kakhulu nejika elimisiwe.
II. Vula-I-Loop Control
I-injection stroke ngokuvamile ihlukaniswa ngezigaba ezintathu (umjovo ongasheshi, umjovo osheshayo, nokuqina) noma izigaba ezine (umjovo ongasheshi, umjovo wokuqala-wokujova osheshayo wesiteji,{1}}umjovo osheshayo wesiteji, kanye nokuqina). Isivinini nokucindezela kwesiteji ngasinye kulungiselelwa nge-elekthronikhi noma ngesandla ngokulungiswa komshini kushafu yokulawula eyinhloko. Amapharamitha wangempela azuziwe kanye nesimo sejika lomjovo siyahlolwa ngokusekelwe kusixhumi esibonakalayo noma ulwazi lonjiniyela benqubo, futhi noma yiziphi izinguquko ezidingekayo zenziwa mathupha.
III. Ukulawula{1}Isikhathi Kwangempela
I-injection stroke ilawulwa ngamasegmenti amaningi ({0}}imishini yokusakaza ephezulu{1}}ephuma kubakhiqizi abahamba phambili bamazwe ngamazwe manje inikeza amasegimenti angafika kwangu-20, okuhlanganisa{3}}nokuphela{4}}kokwehla kwe-stroke). Ama-opharetha angahlela amapharamitha athile engxenye ngayinye ehlukile yokushaywa. Ngokusebenzisa{7}}amavalvu asebenza ngokuqina aphezulu aphezulu, isistimu ithuthukisa kakhulu isivinini sokuphendula sokutholwa kwepharamitha kanye nokulungiswa kwempendulo (ifinyelela izikhathi zokuphendula ezingaba ngu-5 ms). Kuyo yonke inqubo yokujova, idatha yokucindezela kanye nesivinini ibhekwa ngokuqhubekayo, futhi{10}}nokulungiswa kwempendulo yesikhathi sangempela kuyenziwa. Lokhu kunxephezela umthelela wokuguquguquka kwesimo sokukhiqiza kumapharamitha womjovo, okuqinisekisa ukuthi ijika langempela lomjovo kuwo wonke umjikelezo liqondana ngokunembile namanani asethiwe. Ngenxa yalokho, le ndlela iletha ukwethembeka okuphezulu nokuzinza{13}kunqubo yokulingisa, ngaleyo ndlela ihlangabezana nezimfuneko eziqinile zokucubungula{14}}zokulingisa kokusebenza okuphezulu.
