[[!img rpi_dc_motor_control-scn.png size="300x" align=right alt="Simulink connected to RPi running motor control model"]] Raspberry Pi is low cost hardware which does not implement any usual motor control peripherals in hardware. Yet fully preemptive variant of Linux kernel latencies are so low that fast signals processing in software allows to implement precise DC motor feedback control for incremental encoder inputs changing up to 15 kHz.

[[!img rpi-mc-wwrap-schema.png size="300x" align=right alt="Diagram of Interconnection of RPi and DC Motor"]] The DC motor is connected to RPi GPIO pins. The diagram of wire-wrapped interconnection is available in PDF and SVG formats as well.