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TPA3136D2: closing the loop with an external driver stage

Part Number: TPA3136D2
Other Parts Discussed in Thread: OPA2990

Is it possible to close the loop on the TPA3136D2 around an external driver stage?

Can this be done with a PID loop control using an amplifier on each output of the driver stage?

Or could the information be fed back into the the OUTNL/PL and OUTNR/PR to regulate the loop?

ShawnPMP23173A(001)_Sch.PDF