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Unread 31-07-2013, 11:16
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Re: paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)

Those graphs definitely show improvement over the years.

I've always liked to feed forward as much as possible for best transient performance. The P-I-FF design feeds forward the steady state output (FF), corrects for steady state errors with I, and handles transients with P (what the D term in a 'normal' position PID would do). FF can be implemented as a math model, curve fit, or lookup/interpolation table.

I agree that mechanical engineers tend to solve problems mechanically, as a controls engineer I disagree with this approach.
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