Answer by Ugo Pattacini for Can badly tuned Feedforward still decrease...
Your intuition is right as a feedforward term always helps the PID do its job, which in this case means that the steady-state error is lower.We could have practical proof of this.Imagine that in your...
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Let's say we're trying to control the speed of a motor to 20 revs/sec, and we know that our controller output for that speed is approximately 5. We currently have a Proportional controller to drive the...
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