Phase-locked loop control system and method for a motor

A control system for a motor having a rotor and stator, comprising

• a driver pulse generating electronic device for outputting driver pulses to a driver of the motor, the motor being a stepping motor and the driver pulses causing discrete steps of rotation or linear movement of the rotor relative to the stator to control rotation or linear movement, direction of rotation or linear movement, and speed of rotation or linear movement of the rotor relative to the stator,
• the driver pulse generating electronic device being configured such that a signal proportional to a difference between a command input signal provided by a controller and an encoder signal of actual rotor position of the motor provided by an encoder is used to determine when a next driver pulse is output from the driver pulse generating electronic device and such that generation of driver pulses is controlled by a phase angle of the rotor relative to the stator of the motor and not solely by the command input signal of the controller,
• wherein the driver pulse generating electronic device is configured to determine a number of encoder pulses received from the encoder after which a next driver pulse is to be generated.