Full State Feedback Question

[Jared]

I had a question for some of the teams who have implemented full-state feedback for their robots:


How do you use integral control?

The standard way of achieving integral control that I've seen commonly used in practice is to add an additional state that's the integral of error of the variable you want to have zero steady-state error.

There are two drawbacks to this method:
-there's integral windup on a unit step

-previously, if I had a position/velocity trajectory, I could calculate what I wanted Kx to be, and used this as my reference input. As a result of using both desired position and velocity, I got really good reference tracking. With the integral control added, my reference is always the desired position, and I have no way to tell the controller my desired velocity.

Is there an easy way to be able to specify all the desired states and have the integral control like I described?

Is there a better way to add integral?