e-foc — The Design Booklet
Theory, design, and architecture of the e-foc Field-Oriented Control firmware. No source code — components, responsibilities, and signal flows only. Also available as a single PDF.
Part I — Theory
Chapter 1Field-Oriented Control (FOC)
Chapter 2FOC Plant Models — Discretization and State-Space Foundations
Chapter 3Advanced FOC Controllers — Index
Chapter 4Current Loop — PI (Baseline)
Chapter 5Current Loop — A1: Decoupled PID + Feedforward
Chapter 6Current Loop — A2: Deadbeat
Chapter 7Current Loop — A3: Sliding-Mode
Chapter 8Speed Loop — PI (Baseline)
Chapter 9Speed Loop — S1: LQI
Chapter 10Speed Loop — S2: ADRC
Chapter 11Speed Loop — S3: Two-DOF
Chapter 12Position Loop — P (Baseline)
Chapter 13Position Loop — P1: LQR / LQI
Chapter 14Position Loop — P2: Cascade P
Chapter 15Position Loop — P3: Two-DOF
Chapter 16Position Loop — P4: Iterative Learning Control (ILC)
Chapter 17Position Loop — Friction Compensation Feedforward
Chapter 18Electrical Parameters Identification — Resistance and Inductance
Chapter 19Mechanical Parameters Identification — Friction and Inertia
Chapter 20Motor Alignment — Encoder Zero-Point Calibration
Part II — Architecture
Part III — Design
Chapter 22FOC Mathematical Transforms
Chapter 23FOC Torque Control
Chapter 24FOC Speed Control
Chapter 25FOC Position Control
Chapter 26Runtime Controller Selection
Chapter 27Service: FOC State Machine
Chapter 28Service: Motor Alignment
Chapter 29Service: Electrical Parameters Identification
Chapter 30Service: Mechanical Parameters Identification
Chapter 31Service: Non-Volatile Memory
Chapter 32Service: Command-Line Interface (CLI)
Chapter 33CAN Service Layer Design
Chapter 34Error Handling Design
Chapter 35Watchdog Design
Chapter 36Integration Testing Design