Pattern

Cascade of loops

You might say: nested loops, fast inside slow

Nest a fast inner loop inside a slower outer loop; the inner loop regulates a smaller variable while the outer loop sets its target.

Ask

Is each inner loop sufficiently faster, and are units, saturation and handoff behavior clear?

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §11.1 Control System Overview: Inner current and outer robot-control loopsThese inner control loops can run tens of thousands of times per second.

Use it on your project

teardown-apply: hold "Cascade of loops" (pattern-cascade) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

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