The first DIY sub I made used a servo system very similar to Rythmik's. That was ca. 1980. Velodyne was using an accelerometer-based approach and my tests showed it did not work as well as the voice-coil sensing scheme that I used (as does Rythmik). There are a bunch of other examples, like the old AudioPro subs and Kenwood's SigmaDrive or whatever they called it. The idea of a servo is not new, goes back to steam engines, just his implementation of it. The thread is about Rythmik, so I didn't say that it was explicitly and specifically his version that he invented and not servo in general, figured that was obvious, sorry.