A novel inner loops controller is proposed in order to get a high response dynamic. These controllers have been developed based on exact discrete-time models obtained from an analytic calculation of exponential of matrices. A pole placement method using feedback control is chosen to derive their control laws. For stability matters, a pole location analysis have been performed to set appropriately the controller parameters which are the sampling period and the controller gains.
Patent FR3053494 (A1) WO2018024977 (A1)