Quote:
Originally Posted by Alan Anderson
Feedforward only works well if the system is reasonably linear. Your system might always use a range of wheel speeds where that assumption holds, and it would be fine in that case. You should still be aware that you are relying on that assumption.
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This is mostly true, however a strong integral term is normally enough to make even a very non-linear system work, especially if you are only using a small range of the total RPM that the shooter is capable of. There probably are better ways to deal with this if you aren't happy with feed-forward, though.