Nested disturbance rejection controller integrated within camera module

A camera module of an electronic device, comprising:

• one or more actuators including a first actuator,
• one or more lens position sensors including a first lens position sensor, and
• one or more disturbance rejection controllers including a first disturbance rejection controller;
• wherein the first disturbance rejection controller is configured to:
• obtain a first set of control signals generated at one or more processors external to the camera module, wherein the first set of control signals is based at least in part on one or more of:
• (a) a first set of data generated at the first lens position sensor, or (b) a second set of data generated by one or more sensors external to the camera module;
• obtain a third set of data generated at the first lens position sensor;
• transmit a second set of control signals to the first actuator, wherein the second set of control signals is based at least in part on (a) the first set of control signals and (b) the third set of data;
• and
• wherein, in response to the second set of control signals, the first actuator is configured to cause a displacement of a camera lens of the electronic device.

A method, comprising:

• obtaining, at one or more processors of an electronic device, one or more of (a) a first set of data generated by a particular sensor included within a camera module of the electronic device, or (b) a second set of data generated by one or more sensors external to the camera module;
• transmitting, from the one or more processors to the camera module, a first set of control signals, wherein the first set of control signals is based at least in part on one or more of:
• (a) the first set of data or (b) the second set of data;
• transmitting, from a particular disturbance rejection controller of the camera module to a particular actuator of the camera module, a second set of control signals, wherein the second set of control signals is based at least in part on (a) a third set of data obtained from the particular sensor included within the camera module and (b) the first set of control signals;
• and
• causing, by the particular actuator, based at least in part on the second set of control signals, a camera lens to move.