**************
Controller
**************
*Introduced in MORe v3.0*

Represents a controller for the mechanical system.

====
Axis
====
If the controller is used to control an axis, select it here. This is only necessary for 3D-plot animation in transient analysis
(mapping of controller setpoints to an axis).

==================
Controller enabled
==================
Disabling a controller opens all feedback loops. Setpoints are directly fed through to the coupling output.

==========
Subsystems
==========
With the release of MORe v3.1, controller now consist of 3 subsystems.

------------------
Block diagram
------------------
   .. image:: media/controller_mechsys.png
      :alt: Controller Block Diagram
      :scale: 50 %

.. 	toctree::
   :maxdepth: 1

   architecture/architecture
   filter/filter
   motor/motor