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Why has this configuration chosen for feedback?

I'm a newbie in electronics and Trying to understand and build this circuit. would somebody tell me the rule of R1 & C2 in this circuit and their magnitude effect on the controlling of process.why didnt feedback start just after the output of opamp?How could i find the transfer function between the voltage output of Hall effect sensor and the voltage output of MOSFET drain?

The schematic is the circuit of a magnetic levitating tool at:


Thanks so much enter image description here