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PWM dc motor control


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Hi people.
I need to design a controller for a 24V DC motor.
Problem is that it has to stay on full power all the time, so i figured:
Use PWM from 555 ( or something ), put a cap in series, design H-bridge that will use positive and negative values and that is it. Change of duty cycle will change direction and speed of rotation ( I hope so )

Now I'm wondering what will happen witn L*di/dt on sharp corners of PWM :), how MOSFETs are going to react...

Any experience, web page, solution, knowledge, near death experience ....
I'm posting a pic of signal to be, not exactly pwm but I need DC offset equal or close to zero.
Thx in advance.

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