Finally, actuation of the controlled system is shown on this slide, which is a task performed by the PWM generator. Motor control applications typically require three duty cycle modulated, complementary pair PWM outputs with programmable dead-band. Switching frequencies are usually in the 10 to 20 KHz range. This is a relatively simple PWM pattern to generate in digital hardware. However, digital power supply applications require much more complex PWM patterns and switch at far higher frequencies, often in the 100 KHz to 1 MHz range. Switching frequency is an important consideration since for digital PWM generators the resolution of the PWM becomes worse as the switching frequency increases. In extreme cases this can lead to sustained oscillations known as limit cycles. Applications such as these would be quite beyond the reach of the F240, however the C28x employs a modular PWM architecture capable of supporting a wide range of digital power supply topologies. Some of the power supply topologies commonly supported by the C28x are shown in the slide.