“…2. This system is composed of two Position/ Frequency Converters (PFCs) (Hsieh et al, 1998), a Discrete Frequency/Pulse Comparator (DFPC) (Hsieh et al, 1998), an FPPC, a DC motor with a motor driver, an optical encoder, an up/down counter, and a lead screw. The PFC i and PFC o are, respectively, used to convert the input pulse number p i (i.e., input position) and feedback pulse number p o (i.e., feedback position) into discrete frequencies f i and f o .…”