A simple nonlinearized control system

A LINEAR control system is possibly the best compromise solution for an environment which includes a more or less random assortment of all kinds of inputs. However, for control systems which work with only one or two well-defined kinds of inputs such as steps and ramps the linear system has serious limitations; mainly: 1. The maximum available torque or force of the servomotor is utilized only throughout a small fraction of the operating cycle, so the efficiency is low and the response inherently slow. 2. The transient response has a theoretically infinite duration, and practically it consists of a long trail of damped oscillations or a long asymptotic tail.