I believe that when Richard is using the term "synchronization" he is talking about matching up the software execution speed with the running of the mechanical system. This is done by adding time delays in the software or by shifting the order of tasks that are done in software. I have had to do this with a couple of projects where it was cost prohibitive to add a sensor or a feedback device to close the system loop. Essentially the software is running a system in an open loop fashion and depending on the mechanical system to remain stable. The software execution speed must maintained or the system sychronization is lost.


Jacob