Proven by test, QCW's method can yield a control law that enables fast and precise motion control without generating harmonic ringing and/or possible impact.

The figure illustrates a few features of a particular solution. The red "cause" trace is the input into a dynamic system while the black "effect" trace is the response of that dynamic system.

The figure shows

• Causes start at zero with zero slope and end at zero with zero slope.
  
  
• These causes are chosen to result in the desired effects which start at zero with zero slope and end at zero with zero slope.
  
  
• A sample variety of slopes, magnitudes when paused, and time delays.