For example, a voltage controller may take the form of a proportional-integral-derivative controller (hereinafter, a “PID controller”) which applies voltage control according to a mathematical function. The mathematical function may be expressed, for example, as a sum of a proportional term, an integral term, and a derivative term. The proportional term may represent a present voltage value or the difference between the present voltage value and the desired voltage value. The integral term may represent one or more past voltage values or the differences between those past voltage values and the voltage values desired at those respective times. The derivative term may represent one or more estimated future voltage values (based on current voltage-control-command trends) or the differences between those estimated future voltage values and the desired voltage values at those respective times. In these embodiments, the steady-state cyclic control pattern may correspond to the sum of the proportional and integral terms, while the oversampling cyclic control pattern may correspond to the derivative term.

Similar to the steady-state control frequency, the inverse of the oversampling control frequency is the length of the period of the cycles in the oversampling cyclic control pattern (referred to in this example as an oversampling control period). The oversampling control period, in this embodiment, is shorter than the steady-state period (i.e., the oversampling control frequency is faster than the steady-state frequency). For example, in some embodiments, the steady-state control period may be a positive-integer multiple of the oversampling period.