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by questioner
Wed Nov 14, 2018 2:29 pm
Forum: Velocity and Position Control
Topic: Velocity control feedforward term
Replies: 1
Views: 1114

Velocity control feedforward term

Is there a feedforward term in the velocity PID controller? Is it simply proportional to the commanded velocity? I want to control a motor driving a gravity-loaded joint. Adding a fixed positive or negative feedforward value to the PID output depending on the direction of desired motion will allow m...