Impedance control

Im interested how can i realise something like this on simplefoc ?

It’s Ben Katz. He’s just awesome! He did all that 6 years ago. Here’s the blog post that goes with it:

If I understand what he did correctly, he’s using a PD controller on the current, so maybe you could play with SimpleFOC tuning on existing control modes to get similar behaviours, or maybe you’d have to write your own control mode or extend what SimleFOC is doing.

One of the more knowledgeable members here can perhaps give further insights…

Oh, and I think Ben’s comments on the poor quality of velocity via differentiated position signals is something a lot of us are familiar with… perhaps an area of the code we should look at improving.