Abstract: The subject matter of this specification can be embodied in, among other things, a method that includes receiving a first electrical current output setpoint, identifying a first operational condition based on the first electrical current output setpoint, providing, based on the identified first operational condition, a first pulse width modulated (PWM) signal having a first predetermined duty cycle, based on the first electrical current output setpoint, provided on a predetermined period, receiving a second electrical current output setpoint, identifying a second operational condition different from the first operational condition based on the second electrical current output setpoint, and providing, based on the identified second operational condition, a second PWM signal having a second predetermined duty cycle, based on the second electrical current output setpoint, provided on a predetermined multiple of the predetermined period.

Abstract: The subject matter of this specification can be embodied in, among other things, a system that includes a flexible structure, a power inverter, a first electromechanical device configured to urge movement of a first portion of the flexible structure based on power received from the power inverter, a second electromechanical device configured to urge movement of a second portion of the flexible structure based on power received from the power inverter, a feedback sensor configured to provide a feedback signal indicative of alignment between the first portion and the second portion, and a controller configured to control operation of at least one of the first electromechanical device and the second electromechanical device based on the feedback signal.

Abstract: The subject matter of this specification can be embodied in, among other things, a phase circuit having an output port, and a high side circuit having a first input port, a high side switching device configured to receive power from a high side power bus and switch power to the output port based on a first input signal received at the first input port, a voltage regulating device having a regulator input port, and a bootstrap capacitor coupled between the voltage regulating device and the output port, wherein the regulating device is configured to receive power from the high side power bus and controllably supply power to the bootstrap capacitor based on a regulator input voltage received at the regulator input port, the regulator input voltage based on a voltage difference between a voltage present on the output port and a voltage present on the high side power bus.