CLOSED-LOOP MOTION-CONTROL SYSTEM USING ERROR TO MODIFY GAIN

A method of operating a motion-control system is provided. The motion-control system may include an actuator and a moveable component driven by the actuator. The method may include providing input that indicates a target value of a parameter of the motion of at least one of the actuator and the moveable component with an operator-input device that is mechanically decoupled from the moveable component. The method may also include controlling the operation of the actuator at least in part with a control signal, including generating the control signal at least in part by determining a control gain based at least in part on a control error between the target value of the parameter and an actual value of the parameter. Generating the control signal may also include multiplying the control gain by the control error or a value derived from the control error.