1. Heerkulku wuu kacaa laakiin ma gaadho barta go'an:
1) Hubi heerkulka kuleylka. Tan waxaa ka mid ah heerka wax soo saarka kuleylka kuleylka kuleylka kuleylka, soosaarka saameynta awoodda (haddii heerkulka uu leeyahay shaqadan), dejinta heerkulka heerkulka heerkulka heerkulka, ficilka heerkulka heerkulka heerkulka iyo sempostat-ka heerkulka heerkulka iyo setpoint, iyo cabirrada pid-ka (tixraac goobaha warshadaha).
2) Hubi kuleylka iyo wareegga kuleylka kuleylka. Foornooyinka qaar waxay adeegsadaan kooxo kuleyl badan. Hubi in koox kasta ay si sax ah u shaqeyneyso. U adeegso awooda isku xirnaanta si aad u cabbirto wejigiisu hadda ee koox kasta oo kuleyl ah, ama ka googooyaa kuleylka oo cabir caabbinta caabbinta.
2. Heerkulku ma sara kaco ama kuleylku ma kululeynayo:
1) Hubi tilmaamayaasha heerka heerkulka heerkulka iyo dejinta.
2) Hubi kuleylka iyo wareegga wareegga, oo ay kujirto in xidanka AC-ga uu si sax ah u hawlanaa, ha ahaato kuleylka wareegga wareegga uu furan yahay, iyo in dib-u-dhiska dhexe uu si sax ah u shaqeynayo.