2012: Tuning the Jaguar's Speed Control PID Loop

[Ether]

Originally Posted by Mr. Lim

At this rate, I would be happy with a linear feed forward, where:

Output = Kff * setpoint + Kp * error + Ki * integral + Kd * derivative

All this would require is the ability to pass another constant (Kff) along to the Jag.

Yeah, I was taking that as a given, but dreaming of a better way:-) Your suggestion I think would be minimally invasive; a simple change that wouldn't break anything.