Improving Transient Response The affect of inner feedback control loop R(s) C(s) [Ts+1] C(s) Km R(s) Tms2+s+K C'(s) K Kh m R(s) Ts2+(1+KmKn)s+Km K, m 5= 1+KmKn 2KmTm Velocity-feedback does not affect the natural frequency. Too small make a large max-overshoot and long Ts. Add velocity-feedback,and adjust Kh to increase s to be 0.4-0.8.Improving Transient Response The affect of inner feedback control loop Velocity-feedback does not affect the natural frequency. Add velocity-feedback, and adjust Kh to increase ς to be 0.4~0.8. m m h m m m m m T s K K s K K R s C s T s s K K R s C s         ( ) ( 1 ) ( ) ( ) ( ) 2 2 m m m h m m n K T K K T K 2 1 ;      Too small ς make a large max-overshoot and long Ts