A common type of servo provides position control. Commonly, servos are electrical, hydraulic or pneumatic. They operate on the principle of negative feedback, where the control input is compared to the actual position of the mechanical system as measured by some sort of transducer at the output. Any difference between the actual and wanted values (an "error signal") is amplified (and converted) and used to drive the system in the direction necessary to reduce or eliminate the error. This procedure is one widely used application of control theory. Typical servos can give a rotary (angular) or linear output.
An additional limitation, often comparable to the effects of inductance, is the back-EMF of the motor. As the motor rotor turns, a sinusoidal voltage is generated proportional to the speed (step rate). This AC voltage is subtracted from the voltage waveform available to induce a change in the current.
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