Motion control applications include passenger elevators and machining tools. Limiting vertical jerk is considered essential for elevator riding convenience. ISO 8100-34 specifies measurement methods for elevator ride quality with respect to jerk, acceleration, vibration, and noise; however, the standard does not specify levels for acceptable or unacceptable ride quality. It is reported that most passengers rate a vertical jerk of 2 m/s as acceptable and 6 m/s as intolerable. For hospitals, 0.7 m/s is the recommended limit.