Electric motor control system.

A digital motor control system includes a feedback element (32) attached to a motor (34) which periodically obtains information descriptive of actual motor position and velocity, compares this information with desired values for position and velocity to determine a system vector which defines both position error and velocity error as a single point on a cartesian coordinate error plane, compares this vector to a decision-making criterion represented as a continuous function on the error plane, and as a result of the comparison causes a voltage pulse of appropriate duration and polarity to be applied to the motor (34). A pulse of a first preselected width is applied to accelerate the motor (34) if the system vector is located on one side of the function, or a pulse of a difference width and/or polarity is applied to cause the motor to decelerate if the system vector is on the other side of the return function.