(Needs proofreading! Written by: Keshav)

Feedforward Control

In the previous section we learnt that Feedforward Control relies only on the desired state of the system and doesn’t require the error or setpoint. For this reason, the reference that we are controlling when using feedforward is most commonly the velocity. We cannot accurately control the position without error so feedback control is most commonly used for that. We will now go over specific constants and things that are required to actually use feedforward control on a system.