Cedrat Technologies CCBu40 Instruction Manual

CEDRAT TECHNOLOGIES S.A.
59 Chemin du Vieux Chêne –Inovallée
38246 MEYLAN CEDEX
www.cedrat-technologies.com • [email protected] • Tél : [phone]
SA au capital de 550 000 € • RCS GRENOBLE 310 416 334 • SIRET 310 416 334 00046 • TVA intracommunautaire FR 29 310 416 334 • RIB BNP MEYLAN FRANCE 30004 01285 00028
016118 94 • IBAN FR76 3000 4012 8500 0280 1611 894 • SWIFT BNPAFRPPGRE
CCBU40 COMPACT CONTROLLER BOARD
PRODUCT AND WARRANTY INFORMATION
Version: 1.21
Date: 11/03/2021

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CCBU40 COMPACT CONTROLLER BOARD - PRODUCT AND WARRANTY INFORMATION Version 1.21
I. CAUTION: READ BEFORE OPENING
For safety purposes these instructions must be read before use of this product.
This product presents risks of severe injury or death due to burn hazards, electric shock, and sharp edges.
Only qualified personnel should work on or around this equipment and only after becoming thoroughly familiar
with all warnings, safety notices, and procedures contained herein.
The successful and safe operation of this equipment is dependent on proper handling, installation and operation.
A "qualified person" is one who is familiar with the installation, construction and operation of the equipment and
the hazards involved. In addition, he/she has the following qualifications:
•is trained and authorized to energize, de-energize, clean, and ground equipment in accordance with
established practices,
•is trained in the proper care and use of protective equipment in accordance with established safety
practices,
•is trained in the soldering process and wiring of connectors,
•is familiar with the EMC and safety requirements.
To comply with the safety and EMC regulation, the user must install and configure the product correctly.
Qualified person, who is familiar with the EMC and safety requirements, must install the product and is
responsible for ensuring that the end product complies with the relevant laws in the country, where it is going to
be used. Special care should be taken regarding electrical safety since the product is capable of providing high
voltages.
II. INSPECTION UPON RECEIPT
This product has been inspected and shown to operate correctly at the time of shipment, as verified by the
Factory Verification Form that accompanies the product.
Immediately upon receipt of the product, it should be inspected carefully for any signs of damage that may have
occurred during shipment. If any damage is found, a claim should be filed with the carrier.
The package should also be inspected for completeness according to the enclosed packing list. If an order is
incorrect or incomplete, contact your distributor.

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III. INFORMATION ON DISPOSAL FOR USERS OF WASTE ELECTRICAL & ELECTRONIC EQUIPMENT
(PRIVATE HOUSEHOLDS)
This symbol on the product(s) and / or accompanying documents means that used electrical and
electronic products should not be mixed with general household waste. For proper treatment, recovery and
recycling, please take this product(s) to designated collection points where it will be accepted free of charge.
Alternatively, in some countries you may be able to return your products to your local retailer upon purchase of
an equivalent new product.
Disposing of this product correctly will help save valuable resources and prevent any potential negative effects
on human health and the environment, which could otherwise arise from inappropriate waste handling.
Please contact your local authority for further details of your nearest designated collection point.
Penalties may be applicable for incorrect disposal of this waste, in accordance with you national legislation.
For business users in the European Union:
If you wish to discard electrical and electronic equipment, please contact your dealer or supplier for further
information.
Information on Disposal in other Countries outside the European Union
This symbol is only valid in the European Union. If you wish to discard this product please contact your local
authorities or dealer and ask for the correct method of disposal.
IV. DISCLAIMER
All product, product specifications and data are subject to change without notice to improve reliability, function
or design or otherwise.
Cedrat Technologies makes no warranty, representation or guarantee regarding the suitability of the products
for any particular purpose or the continuing production of any product.
Except as expressly indicated in writing, Cedrat Technologies products are not designed for use in medical, life-
saving, or life-sustaining applications or for any other application in which the failure of the Cedrat Technologies
product could result in personal injury or death.

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I. CAUTION: READ BEFORE OPENING ........................................................................................................... 2
II. INSPECTION UPON RECEIPT......................................................................................................................... 2
III. INFORMATION ON DISPOSAL FOR USERS OF WASTE ELECTRICAL & ELECTRONIC EQUIPMENT (PRIVATE
HOUSEHOLDS)...................................................................................................................................................... 3
IV. DISCLAIMER..................................................................................................................................................... 3
V. INTRODUCTION............................................................................................................................................. 5
V.1. OVERVIEW................................................................................................................................................................5
V.2. CCBU40 CONFIGURATION......................................................................................................................................7
V.3. ARCHITECTURE.......................................................................................................................................................8
V.4. MODES OF OPERATION........................................................................................................................................12
VI. UNDERSTANDING THE FACTORY VERIFICATION SHEET ................................................................... 12
VII. MECHANICAL INSTALLATION................................................................................................................. 14
VIII. ELECTRICAL CONNECTIONS................................................................................................................. 15
VIII.1. INTERFACE WITH THE CLIENT / SUPERVISOR...............................................................................................16
VIII.2. POWER SUPPLY CONNECTOR.........................................................................................................................17
VIII.3. INTERFACE WITH THE PIEZO MECHANISM.....................................................................................................17
I) ACTUATOR CONNECTOR (POWER) ..................................................................................................................17
II) SENSOR CONNECTOR........................................................................................................................................18
VIII.1. EARTHING INTERFACE......................................................................................................................................18
IX. STARTING AND OPERATING THE CCBU40............................................................................................ 19
X. CONTROL..................................................................................................................................................... 20
XI. COMMUNICATION INTERFACE ................................................................................................................ 21
XI.1. SETTINGS..............................................................................................................................................................21
XI.2. STANDARD FORMAT............................................................................................................................................22
XI.3. HDPM45 GUI..........................................................................................................................................................27
XII. POWER SUPPLY, POWER CONSUMPTION, OUTPUT CURRENT CAPABILITY................................. 27
XIII. THERMAL INTERFACE............................................................................................................................ 29
XIV. TROUBLE SHOOTING FORM.................................................................................................................. 31
XV. ANNEX I: MECHANICAL ICD.................................................................................................................... 32

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CCBU40 COMPACT CONTROLLER BOARD - PRODUCT AND WARRANTY INFORMATION Version 1.21
V. INTRODUCTION
V.1. OVERVIEW
The CCBu40 comprises all the required electronics to control in closed-loop a two-axis push-pull piezo-
mechanism, i.e. power converters, conditioners, digital controller, and digital interface. The CCBu40 has
external dimensions of 159.2x169.5x36mm. The CCBu40 is shown on the Figure 1. The top of the packaging
features three separate interface connectors:
•Two for the mechanism or actuators.
•One for the supervisor (customer electronics).
Refer to chapter VIII
The bottom of the packaging features the mechanical interfaces to attach the CCBu40. The bottom plate is also
a thermal interface used to dissipate the heat of the CCBu40. The packaging features side openings for air
circulation to enhance the heat dissipation.
Figure 1 : Front view of the CCBu40
On this view, the configuration switch 1 is on the left, the 3 on the right.

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The CCBu40 only requires a single DC power supply between +24Vdc - +28Vdc to operate. Two status LEDs
indicate the condition of the system. The green LED “Power” indicates that the CCBu40 is powered on, and the
red LED “Fault” indicates if a fault condition has been detected or if the CCBu40 is disabled. The board
integrates overtemperature detection, overload detection, and missing connector detection.
The functionality of the board can be set in different modes with configuration switches. The choice can be
made between analog and digital commands, and it is possible to select between two different speeds for the
digital communication.
Digital communication with the board comes in a full-duplex serial link with RS422 signaling to reach high
speeds. The digital link serves to set the parameters of the control loop and can also serve to send the
commands to the board and get feedback. Refer to chapter XI

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V.2. CCBU40 CONFIGURATION
FACTORY CONFIGURATION
On customer request and depending on the associated mechanism, the CCBu20 could have the following
configuration:
•Sensor conditioning
In default configuration, the CCBu40 is equipped with a sensor conditioning. When the associated mechanism
is already equipped with a sensor conditioning (a strain gauge or any other sensor with integrated conditioning
stage providing a ±10V signal).
This information is given in the mechanism user manual.
•Closed loop order
In default configuration, the gain between the sensor feedback and the analog command is 1. Which means
that if the sensor feedback is between -4V and +4v for the full mechanism stroke, the user must send an analog
order between -4V and +4V to reach the full stroke.
Some other configurations are available. The gain could be higher to maximise the input voltage resolution
measurement (the maximum is for an analog signal between -10V and +10V). An offset could be added (for
example to have an analog input voltage only positive).
This information is given in the mechanism Factory Verification Sheet in the ‘displacement VS input voltage in
close loop’ test.
USER CONFIGURABLE CONFIGURATION
•Control parameters
In default configuration the control parameters are the following: P=0.05, I=200, D=0. Output filter is a second
order lowpass filter with cutoff frequency of 200Hz.
When the CCBu40 is associated with a mechanism, these parameters could be tuned to reach the mechanism
performances. This information is given in the the mechanism Factory Verification Sheet.
•Configuration switches
3 mode selections switches are present on the CCB. The position of the switches must be set before the CCB
power up.
oSwitch 1
When this switch is down (default configuration) the RS communication is forced to 57600 bauds. When this
switch is up, the RS baud rate is set to the user configurable one. On delivery, this speed is set to 937.5kbps.
For more information refer to chapter XI.
oSwitch 2
When this switch is down, it forces the CCB on analog command. The user must send the movement order on
the AiX and AiY input.
When this switch is up (default configuration) the user can select, through the RS communication, the order
mode (analog or digital). On delivery the analog mode is set.
oSwitch 3 (reserved)
This switch must always remain up

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V.3. ARCHITECTURE
The architecture of the CCBu40 is represented schematically on the Figure 2 or Figure 3 depending on the
selected sensor. On the figure, the commands for adjusting the configuration are identified with ‘’ marks. The
details of the commands are given in Section 0. The CCBu40 has two fully independent control channels, thus
it is able to control a 2-axis push-pull mechanism, or 2 single axis piezo-mechanisms. The structure of the
channels is identical, as can be noticed on the figures.
In standard, the CCBu40 features two SG sensors conditioners (one per channel) which provide a voltage
output between ±10V corresponding to the position measurement. Alternatively, the CCBu40 exists in optional
hardware configuration without SG conditioning. In that case, the ±10V sensor signals are provided directly on
the mechanism connector, and no conditioning is applied. The sensor measurements are sampled by the
controllers to perform closed-loop control. Those measurements can be read using the analog outputs “SX” and
“SY”, or through the digital link.
For driving the piezo actuators, the CCBu40 features 3 high voltage power amplifiers. The first power amplifier
provides the +130V in case a push-pull mechanism is controlled, and its output voltage is fixed. The 2 other
amplifiers are controllable, and each is associated to a control channel. Those amplifiers have an approximate
gain of 20V/V. They take a command voltage between [-1V ; +7.5V], and output a voltage to the piezo-actuators
in the range of [-20V ; +150V] approximately.
The user has the possibility to set limitations on the commands before they are applied to the amplifiers. This
can be very convenient to protect the system when tuning the closed-loop control in case some instability would
occur. Once the closed-loop is properly tuned and robust, the user can set again the limitations to the maximum
values [-20V ; +150V] to achieve full stroke.
The internal digital preamplifier is set to translate from customized range order to standard range order [-1V;
+7.5V]
There is one digital controller per channel of the CCBu40, and they are independently configurable. The details
on the closed-loop controllers are given in the Section 0. The user can configure the board to operate with
analog ±10V commands from the “AIX” and “AIY” inputs, or to operate from the digital commands sent through
the digital communication. The user can also select between open-loop and closed-loop operation:
•In open-loop operation, the commands are fed to a preamplifier if the input range is customized and
then the power amplifiers.
•In closed-loop operation, the commands are fed to the closed-loop controllers. The closed-loop
controller outputs are controlling the power amplifier inputs. The role of the closed-loop controller is to
make sure that the sensor signal voltage equal to the command voltage. This means that the
command gain is equal to the sensor gain, and the user should provide commands that are in the
range of the sensor output. If the command is not in the sensor output range, the controller will simply
saturate.
Optionally, the mechanism can integrate a PT1000 temperature sensor, as well as a DS2431 1-wire memory.
Those functions are optional and thus not represented on the figures. The DS2431 memory is an option that
can be used for storage of calibration data upon specific customer request, this option is managed only by
Cedrat Technologies.
For the optional temperature sensor, this can be managed by Cedrat Technologies as an option directly
integrated on the mechanism or actuator. If the customer is responsible for the wiring of the mechanism or
actuators, he has the possibility to integrate the sensor himself. The sensor should be of type PT1000, and it
should be connected between the “T°C” and “GND” pins of the mechanism connector. The temperature signal

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can then be read as a voltage on the “T°C” analog output of the supervisor connector. The CCBu40 integrates
a conditioner that provides a constant 1.613mA current to the PT1000 probe. Based on the voltage
measurement on the “T°C” output, the temperature in °C is computed as follows:
Temperature [°C] = (“T°C” output [V] – 1.613) x 161
Notes:
•When monitoring the sensor signals on the SX and SY outputs, it is recommended to use an
low pass filter to remove switching noise that can appear on those lines; This is also
recommended for temperature reading (if used) on the T°C.

CEDRAT TECHNOLOGIES S.A.
59 Chemin du Vieux Chêne –Inovallée
38246 MEYLAN CEDEX
www.cedrat-technologies.com • [email protected] • Tél : [phone] • Fax : [phone]
SA au capital de 550 000 € • RCS GRENOBLE 310 416 334 • SIRET 310 416 334 00046 • TVA intracommunautaire FR 29 310 416 334 • RIB BNP MEYLAN FRANCE 30004 01285 00028 016118 94 • IBAN FR76 3000 4012 8500 0280 1611 894 • SWIFT
BNPAFRPPGRE
Figure 2 : Architecture of the CCBu40 with integrated SG conditioner
Important warning: The numbering on the Figure 2 and Figure 3 does not correspond to the pinouts of the connectors. For connectors pinout,
please refer to chapter Electrical connectionsVIII.

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CCBU40 COMPACT CONTROLLER BOARD - PRODUCT AND WARRANTY INFORMATION Version 1.21
Figure 3 : Architecture of the CCBu40 with external sensor option
Important warning: The numbering on the Figure 2 and Figure 3 does not correspond to the pinouts of the connectors. For connectors pinout,
please refer to chapter Electrical connectionsVIII.

CEDRAT TECHNOLOGIES S.A.
59 Chemin du Vieux Chêne –Inovallée
38246 MEYLAN CEDEX
www.cedrat-technologies.com • [email protected] • Tél : [phone] • Fax : [phone]
SA au capital de 550 000 € • RCS GRENOBLE 310 416 334 • SIRET 310 416 334 00046 • TVA intracommunautaire FR 29 310 416 334 • RIB BNP MEYLAN FRANCE 30004 01285 00028
016118 94 • IBAN FR76 3000 4012 8500 0280 1611 894 • SWIFT BNPAFRPPGRE
V.4. MODES OF OPERATION
The CCBu40 can be set by customer in different modes depending on the user requirements.
ANALOG AND DIGITAL COMMAND
The CCBu40 can receive analog or digital commands. The supervisor connector has two ±10V analog inputs
“AIX” and “AIY”, which should be used to apply the analog commands. In digital mode, the commands are sent
through the serial link. When the configuration switch N°2 is connected, the board uses only the analog inputs.
When this configuration switch is not connected, the type of command is selected in software between analog
and digital commands.
OPEN AND CLOSE LOOP OPERATION
The CCBu40 can operate in closed-loop or in open-loop. In open loop, the user commands are directly sent to
the power drives. In closed loop, the CCBu40 controls the system position based on the sensor feedback and
user commands. The selection between closed-loop and open-loop is done in software.
Note: The position of the configuration switches is only verified on power-up. If the configuration switch
is changed during operation, the CCBu40 will not change its configuration.
VI. UNDERSTANDING THE FACTORY VERIFICATION SHEET
Each CCBu40 is delivered with a Factory Verification Sheet (FVS). This FVS is the proof that the CCB has
successfully pass CTEC acceptance tests.
The first table shows some useful information about the CCB like the CCB serial number (also mark on the top
cover).
The first test (Rising time / falling time) verifies for each output the peak current capability of the CCB which is
about 0.2A. these tests are done by measuring the voltage rising time on a capacitive load with a full amplitude
square order.

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CCBU40 COMPACT CONTROLLER BOARD - PRODUCT AND WARRANTY INFORMATION Version 1.21
Figure VI-1: Example of rising and falling time measurement
The second test (Linearity) compares in open loop the output voltage vs the input order. The amplifier gains are
calculated.
Figure VI-2: Example of linearity measurement

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VII. MECHANICAL INSTALLATION
The side of the packaging features 8x M3 through all holes to allow mounting on a wall:
Figure 3: Threaded holes for installation
Detailed mechanical ICD can be found in Annex. The bottom surface of the CCBu40 serves as a heatsink.
Please check Section XIII for heatsinking requirements.

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CCBU40 COMPACT CONTROLLER BOARD - PRODUCT AND WARRANTY INFORMATION Version 1.21
VIII. ELECTRICAL CONNECTIONS
IMPORTANT WARNINGs: ELECTRICAL HAZARD
For protection against electric shock, connectors must be isolated from the power supply
while being assembled or disassembled.
Never perform electrical connections when the CCBu40 is powered-on. The CCBu40
provides high voltage outputs to the piezo actuators (>100V), and there is a risk of
electrical shock. If the board has been powered-on before, wait at least 1min after power-
off before working on the electrical connections.
Each time the connectors are used, it should previously be inspected for external defects
(particularly in the insulation). If there are any doubts as to its safety, a specialist must be
consulted, or the connector must be replaced.

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VIII.1. INTERFACE WITH THE CLIENT / SUPERVISOR
For the interface of the CCBu40 with the client supervisor, the connector is a micro D-Sub25.
Figure 4 : Supervisor interface
Pin N°
Signal
Description
Comment
1
SY
Analog sensor output for Y axis
±10V output.
2
SX
Analog sensor output for X axis
±10V output.
3
AIX
Analog order input for X axis
±10V input.
4
AIY
Analog order input for Y axis
±10V input.
5
T°C
Mechanism analogue temperature output
0-3.3V output. Only valid if PT1000 is used on the
mechanism.
6
Enable
Digital enable input
0-3.3V input. Referenced to GND
7
Fault
Digital fault output
0-3.3V output. Referenced to GND
8, 20
NC
9
RTS-
Negative Request To Send
RS422 signal
10
RTS+
Positive Request To Send
RS422 signal
11
RX-
Negative Receive
RS422 signal
12
RX+
Positive Receive
RS422 signal
13, 14, 15, 16,
17, 18, 19, 21
GND
Ground
22
TX+
Positive Transmit
RS422 signal
23
TX-
Negative Transmit
RS422 signal
24
CTS+
Positive Clear To Send
RS422 signal
25
CTS-
Negative Clear To Send
RS422 signal

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VIII.2. POWER SUPPLY CONNECTOR
Figure 5. CCBU40’s Supply connector and its mating connector (Phoenix Contact: 1714977).
The pin 1 (on the left of the connector) must be connected to the 0V and the pin 2 (on the right) must be
connected to the +28V.
Note:
•The polarity is also printed on the front panel.
•The 0V must not be connected to the GND of the supervisor connector.
VIII.3. INTERFACE WITH THE PIEZO MECHANISM
I) ACTUATOR CONNECTOR (POWER)
Figure 6. Micro D-Sub 15 connector
This connector must be connected to the mechanism. It transmits the power to the actuators of the mechanism.
Pin N°
Signal
Description
Comment
1, 3, 5, 7, 9, 10,
11, 12, 13, 14
NC
Reserved –Do not connect
2
+130V
+130V rail for the push-pull
configuration
Constant 130Vdc.
4
VX
X axis voltage output
This voltage is varying, and controls the displacement on the X axis
6
VY
Y axis voltage output
This voltage is varying, and controls the displacement on the Y axis
8
PLUG
Connection detection
Thanks to this pin, the controller checks if a load is connected before
allowing the high voltage on the connector.
15
GND
Ground reference

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II) SENSOR CONNECTOR
Figure 7. Micro D-Sub 15 connector.
This connector must be connected to the mechanism.
Pin N°
Signal
Description
Comment
1
+12V
+12V power supply
Max current is 20mA.
2, 14
GND
Ground reference
3
VREF
+5V voltage reference for supplying the two SG
bridges
This voltage supplies two full SG bridges of 350Ω. Max
current is 30mA.
4, 6
NC
Reserved - No connected
5
SDA
I²C Data
7
-12V
-12V power supply
Max current is 20mA.
8
SCL
I²C Clock
9
SGY+
Positive middle node for the Y axis SG bridge
Voltage increases when the displacement on the Y axis
increases.
10
SGY-
Negative middle node for the Y axis SG bridge
Voltage decreases when the displacement on the Y axis
increases.
11
T°C
Temperature signal from the integrated
temperature probe
Optional: can be connected to a PT1000 temperature probe
located on the mechanism.
12
SGX-
Negative middle node for the X axis SG bridge
Voltage decreases when the displacement on the X axis
increases.
13
SGX+
Positive middle node for the X axis SG bridge
Voltage increases when the displacement on the X axis
increases.
15
1WIRE
1-wire bus for EEPROM memory
Optional: can be connected to a DS2431 EEPROM located
on the mechanism.
Warning: The analog output signals “SX”, “SY”, have a 1kΩ output impedance and “T°C” has a 20kΩ
output impedance for protection. If used, they should be monitored with high input impedance device,
or the series output impedance should be considered.
VIII.1. EARTHING INTERFACE
The CCBu40 must be connected to ground / earth using the ground interface.This is an M3 interface, for a ring
cable lug.

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IX. STARTING AND OPERATING THE CCBU40
Warnings:
•The supply voltage should never exceed +32Vdc. Exceeding +32Vdc will lead to permanent
damage of the CCBu40.
•The wiring and mechanical installation should be performed before powering up the CCBu40.
•Configuration switches should be set to the desired configuration before power-up.
First, the CCBu40 should be powered on by a nominal supplying a voltage between +24Vdc and +28Vdc.
Note: Maximum peak output power may not be available if the power supply peak current is below 10A peak.
After power-up, the green “Power” indicator should light.
The CCBu40 startup is controlled with the “Enable” digital input on the supervisor connector. When the “Enable”
signal is high (3.3V) or undriven, the CCBu40 remains in standby, and power converters are not activated. In
this mode, no motion can be applied to the actuators. In standby, the “Fault” LED and “Fault” signal are set to
indicate that the system cannot operate. In this mode, the power consumption is reduced. When the “Enable”
signal is brought low (0V), the CCBu40 launches the startup procedure. If the startup is successful (no fault
detected), the CCBu40 starts operating normally and applies the user commands. The CCBu40 can be
deactivated at any time by bringing the “Enable” signal high (3.3V).
The board is capable to detect 3 fault conditions:
•Overtemperature
•Overload
•Missing connector (no mechanism is connected)
Upon startup of the board, the conditions are tested. If a fault is detected the board will go to fault mode, and
the red LED “Fault” will light to indicate the fault condition. In addition, the “Fault” output will be set to the high
level (+3.3V). In fault mode, the power converters are deactivated, and the board will not function properly. Fault
mode is equivalent to standby mode. To regain functionality after a fault, the user has to reset the board:
The “Enable” input should be asserted high (3.3V), and then low (0V) again to try to restart the board. If the
startup procedure is successful, the board will operate properly.
Overtemperature condition is constantly monitored during the system operation. If the overtemperature
condition appears during the normal system operation, the board will go to the fault mode. The same principle
applies for the missing connector detection.
Note: The communication becomes active as soon as the green “Power” indicator lights. The
communication remains active even in Standby or Fault condition.

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X. CONTROL
The role of the closed-loop control is to make sure that the sensor feedback is equal to the command. This
means that the system gain in closed loop corresponds to the SG sensor gain, provided in the factory verification
sheet.
Warnings:
•When tuning the control parameters, the user should avoid instability conditions. In case of
instability, there is a risk of damage to the actuators and CCBu40. Please refer to the
application note “Position Control of Piezo Actuators” for hints on how to tune a controller for
piezo actuator. You can download this application note here: http://www.cedrat-
technologies.com/en/products/users-manual.html.
•The sensor feedback must be in phase with the piezo voltage. This can be checked by
operating the CCBu40 in open loop, the sensor should be in phase with the command. If this is
not the case (in particular with the external sensor option), there is the possibility to adjust
and invert the sensor feedback gain in software if needed. See digital command ‘G’ in the
Section 0.
The CCBu40 performs a digital control law basically consisting in a PID controller with a selectable and tunable
output filter. Each of the two channels has its own independent controller, which can be tuned independently.
The CCBu40 refresh rate is of 50kSps.
The controller is presented schematically on the Figure 8: Controller structure. The user can modify all control
parameters to optimize the performance. The commands for adjusting the parameters are identified with ‘’
marks. The details of the commands to adjust the control parameters are given in Section 0.
Figure 8: Controller structure