Systems and methods for multi-level closed loop control of haptic effects are disclosed. One illustrative system (100) for multi-level closed loop control of haptic effects includes a haptic output device (118, 210, 310, 410, 510) configured to output a haptic effect, a sensor (108, 212, 312, 412, 512) configured to sense the output of the haptic output device (118, 210, 310, 410, 510) and generate a sensor signal, and a processor (102) in communication with the sensor (108, 212, 312, 412, 512). The processor (102) is configured to: receive a reference signal, receive the sensor signal, determine an error based at least in part on the reference signal and the sensor signal, generate a haptic signal based at least in part on the reference signal and the error, and transmit the haptic signal to the haptic output device (118, 210, 310, 410, 510) configured to output a haptic effect based on the haptic signal.
SYSTEMS AND METHODS FOR MULTI-LEVEL CLOSED LOOP CONTROL OF HAPTIC EFFECTS