Hi Henrik,

I have been doing some more research on locked antiphase and I see some benefits of this configuration for my application - but some disadvantages too.
Life is full of compromise, why would a motor speed controller design be any different?

Before I go off on a dead end:

1/. Can a locked antiphase arrangement be configured on a PIC18F2431 using the PCPWM Module? If not, can it be done via other hardware PWM modules within this PIC?
2/. I have read in other posts on the forum that your incPID routine will work with locked antiphase configuration. Please confirm this is the case.
3/. Will regenerative braking become a major issue to handle for a 180Vdc 1500W treadmill motor with a rectified mains supplied power supply?

As usual, I don't expect anyone to do all the work for me. What I am after is some yes/no type answers from people who have dealt with this type of project and maybe some guidance on the best way forward.
I do this type of work as a hobby and for the enjoyment of learning along the way but it is always better if I don't have to "re-invent the wheel" if someone has already "been there, done that!"

Cheers
Barry
VK2XBP