Patent ID: 8786138

Claim:
A method for controlling actuator drive current comprising: receiving, by a power amplifier, a reference signal, wherein the reference signal includes a pulse width modulation (PWM) signal; generating, by the power amplifier, a drive signal based at least in part on the reference signal; driving an actuator drive based at least in part on the drive signal; obtaining, by a first feedback circuit, a first feedback signal based at least in part on a drive current; generating, by the first feedback circuit, a first conditioned feedback signal based at least in part on the first feedback signal; obtaining, by a second feedback circuit, a second feedback signal based at least in part on a position of the actuator drive, wherein the second feedback signal differs from the first feedback signal; generating, by the second feedback circuit, a second conditioned feedback signal based at least in part on the first feedback signal; and controlling, by a controller, the PWM signal based on the first conditioned feedback signal and the second conditioned feedback signal.