2) Highlighting the various control systems and control loops on the telescope.
3) Control requirements & problems: high-precision tracking over a wide velocity range, disturbance rejection and the effects of friction, bandwidth, structural and drive resonances, typical plant models, typical controller models,
4) Dual-motor drive analysis (using Simulink).
5) Instrument rotator tracking performance - 'the trouble with friction'.
6) Current work: Model reference control in reducing torque disturbance (using Simulink), and, if time permits, an overview of the Gemini 8m telescope drive control, and the Gemini 8m telescope primary mirror support control.
Martin Fisher, Royal Greenwich Observatory