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Figure 10
Three steps of 515 nrad rotational motion separated by one minute. The green curve is the absolute encoder position and thus should make three distinct steps. Between motions, the encoder position should remain as still (flat) as possible. The purple curve is the difference between ideal absolute encoder position and its real value and should be minimized by the closed loop. The blue thin curve is the amount of motor steps that the closed loop is forced to introduce to keep the encoder position.

Journal logoJOURNAL OF
SYNCHROTRON
RADIATION
ISSN: 1600-5775
Volume 28| Part 4| July 2021| Pages 1059-1068
https://doi.org/10.1107/S1600577521004859
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