E. System Integration and Performance Evaluation
The design of the motion control system is completed by integrating hardware and software together. The interaction between the two parts can be studied in real time by running the developed software on actual hardware or by using an in-circuit emulator. The performance of the control system can be thus evaluated under real operating conditions and compared to the specifications established during I he first design step.
The iteration through all the steps will be necessary to ensure that the system functions conform to the specifications and the performance criteria are met.