This example demonstrates how to use the Nonlinear.SlewRateLimiter block to limit a position step with regards to velocity and acceleration:
positionStepdemands an unphysical position step.
vcalculates velocity from the smoothed position signal.
limit_alimits acceleration of the smoothed velocity signal.
acalculates acceleration from the smoothed velocity signal.
positionSmoothedcalculates smoothed position from the smoothed velocity signal.
A position controlled drive with limited velocity and limited acceleration (i.e. torque) is able to follow the smoothed reference position.