More nested velocity feedback control

Nested velocity feedback was first introduced in the design of the Cherry Amplifier, and more recently the author has shown how it can be used for the control of type 0 systems. The main advantage of the technique is that it makes systems more robust against changes in the output stage of the system. This paper demonstrates an interesting result as regards sensitivity to such changes, and it describes a new algorithm for applying the method successfully for controlling type 1 systems.