The paper considers a formal, constructive approach in which operational software specifications are built incrementally from higher-level goal formulations in a way that guarantees their correctness by construction.
Motor control algorithms regulate speed, torque, and other performance characteristics.
These algorithms help with energy efficiency, precision control, and system protection.
The underlying principles are to refine goals until they are assignable to single agents, and to assign a goal to an agent only if the agent can realize the goal.
There are various reasons why a goal may not be realizable by an agent, e.g., the goal may refer to variables that are not monitorable or controllable by the agent.
You can use simulation to evaluate control algorithms in order to determine the suitability of motor controller designs.