Design closed loop motion control


This unit describes the performance outcomes, skills and knowledge required to design basic closed loop motion control for PIDs.

The unit of competency is applied by technicians in a robotics, automation, mechatronics or electronics engineering environment involved in designing, testing and solving problems in process control systems.

No licensing, legislative, regulatory or certification requirements apply to this unit at the time of publication.


Elements describe the essential outcome.


Performance criteria describe the performance needed to demonstrate achievement of the element.

1.    Use a closed loop motor controller to remotely control a servomotor.

1.1.      Establish control loop parameters by reviewing process specification on remote software instructions.

1.2.      Control an industrial servomotor via a closed loop servomotor controller remotely

2.    Identify and solve process control loop problems

2.1.      Use software to optimize the stiffness, accuracy and stability of a closed loop servomotor control system

2.2.      Perform stability tests of a closed loop servomotor control system

3.    Perform advanced tuning for closed loop motion control systems

3.1.      Apply tuning methods for servomotor controller

3.2.      Apply backlash compensation methods to servomotor controller


Foundation skills essential to performance are explicit in the performance criteria of this unit of competency.


52677WA Module 10 Closed Loop Motion Control Systems



Assessment requirements for DMCMCS610 – Design closed loop motion control 


To achieve competency in this unit a person must satisfy the requirements of the elements and performance criteria, foundation skills and range of conditions included in the unit.

The person must also:

  • perform remote servomotor control using closed loop controller
  • connect and set up equipment or software remotely
  • determine scope of work from documentation
  • tune control loop for advanced functions at least once


To achieve competency in this unit, a person must demonstrate knowledge of:

  • problem solving techniques
  • classical control theory
  • controller block diagrams, stiffness, accuracy and stability
  • ideal step, impulse and frequency response
  • process control terminology
  • control systems, control loop components, open and closed loop control
  • PID functions and applications
  • tests to check the stability of a closed loop servomotor control system:

(a) Step response

(b) Impulse response

(c) Frequency response

  • tuning methods for servomotor controller:

(a) Notch filter

(b) Low-pass filter

(c) Feed-forward control

  • backlash compensation methods to servomotor controller:

(a) Open loop

(b) Final point correction

(c) Dual loop

(d) Improved dual loop


Assessment conditions:

All assessment must be completed in accordance with work health and safety standards.

When assessments are conducted remotely, invigilation software must be used to ensure authenticity of work completed.

Model answers or marking guides must be provided for all assessments to ensure reliability of assessment judgements when marking is undertaken by different assessors.

The candidate must have access to all tools, equipment, materials and documentation required.

Assessor Requirements:

Assessors must satisfy the assessor requirements in the standards for registered training organisation (RTOs) current at the time of assessment.

Assessors must also hold a tertiary qualification in engineering or related field.

The RTO must also ensure that trainers and assessors keep their industry knowledge up to date through ongoing professional development.

The RTO must take appropriate steps, as an ongoing procedure, to verify information about trainer and assessor’s qualifications, vocational competencies and current industry skills.


Software/Hardware Used


  • Wireshark


  •  N/A