A. Original Controller Hardware

Figure V.A.1 is a photo of the motion control plant interface that was built in 1994. Figure V.A.2 shows its circuit diagram. The original ADA2210 data acquisition board that controlled this hardware had a 10 V analog interface. Separate VCCS with gains of 0.4 A/V are used to energize each of the 2 solenoids. A precision reference and scaling amplifier was designed to interface with the potentiometer. The scaling amplifier ensures that the output range of the linear potentiometer is 0 to 10 V. A lowpass filter is used to filter out any noise that has a frequency higher than the sampling rate. The ADA2210 also has a timer to ensure that the sampling rate is 800 µs.