Tachogenerator Feedback
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Rate feedback adds a signal proportional to motor speed and increases damping, reducing oscillation and overshoot. A tachogenerator produces a voltage proportional to shaft speed, so it is the conventional sensor used for rate feedback. Both statements are correct.

Tachogenerator = speed/rate feedback.
Do not confuse rate feedback with position feedback.
Tachogenerator = speed/rate feedback.