# Principles and Methods of Servomotor Control: Comparative Analysis and Applications
## 7 Conclusions  
In this work, the structures, implementation, types, and basic principles and methods of servomotor control are described while highlighting its benefits, limitations, and application possibilities. PWM control, utilizing digital signal processing, proves effective in controlling position, speed, and trajectory. Current control, or torque control, stands out for its high precision in regulating torque, quick response to changes, energy savings, and impact on positioning accuracy.  
Two-loop control, integrating positional and velocity loops, enhances motor control efficiency, offering precision in positioning, stability in speed control, dynamic response, and integration with other methods. Field-oriented control (FOC), based on the vector control principle, ensures precision control, low noise and vibration levels, and high energy efficiency through the transformation of the magnetic field.  
Fuzzy-logic control, relying on fuzzy sets and logical inference, enables adaptive motor control in changing conditions, making it ideal for uncertain systems like digital twins. Finally, programmable control, associated with Industry 4.0, utilizes specialized software and external controllers, offering high flexibility, efficiency, easy integration, and interaction with various protocols and SCADA systems.  
The comparison of servomotor control methods presented in this work provides a comprehensive overview of various parameters crucial for assessing the effectiveness of different control techniques. The parameters of speed, accuracy, adaptability, energy efficiency, popularity, ease of implementation, and material resource costs serve as valuable indicators in making informed decisions about the choice of a control method based on specific requirements.  
The analysis reveals that programmable control stands out as the most popular and energy-efficient method, while PWM control is the simplest to implement. For adaptive control, the fuzzy logic algorithm is considered, and for accuracy, two-loop control, FOC, and fuzzy-logic control are highlighted.  
Each method has its niche and strengths, and the choice depends on the specific requirements of the application. The adaptability of fuzzy-logic control and the efficiency of programmable control make them particularly versatile, addressing challenges in uncertain environments. As technology advances, the selection of a servomotor control method should align with the evolving demands of precision, adaptability, and efficiency in diverse industrial applications.  
Conceptualization, S.A.; methodology, S.A.; validation, A.R., T.V. and K.K.; formal analysis, S.A.; investigation, S.A.; resources, S.A.; data curation, S.A., A.R. and A.K.; writing--original draft preparation, S.A.; writing--review and editing, A.R., A.K. and K.K.; visualization, S.A.; supervision, A.R. and T.V. All authors have read and agreed to the published version of the manuscript.  
The research leading to these results received funding from the PSG453, 2020-2024, \"Digital twin for propulsion drive of autonomous electric vehicle\".  
Dataset available on request from the authors.  
The authors declare no conflicts of interest.