Originally Posted by Jared Russell
If you want to be a bit more accurate, you can compute a feed forward acceleration term for your profile that takes this into account, and apply a gain to that instead.
Assuming that you're tracking your profiles well enough that actual speed is sufficiently close to desired speed at any given point in time, then wouldn't a feedforward structure of "intercept + Kv*velocity setpoint + Ka*acceleration setpoint" properly account for this? Unless I fundamentally misunderstand brushed DC motors, torque depends only on the difference between applied voltage and back-EMF. The "intercept + Kv*vel" portion of the FF should account for back-EMF plus the voltage required to overcome frictional forces, leaving the "Ka*acc" term to account (hopefully correctly) for your desired acceleration on top of that.