This project employs cascaded gain and Lag/Lead type control compensation for the control of the angular position of a motor shaft. Essentially, a small input angle is used to generate an error signal. This error signal is amplified and used to turn a motor. The output angle is also converted to an error signal, and the two signals are compared by a summing amplifier. When the two angles are equal, the two signals are of equal magnitude and one-hundred eighty degrees out of phase. Ultimately, this system could be developed into a "steering by wire" control for electric automobiles.
 

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