I think you may be missing the forest for the trees here
The type of PID loop is critically important to what are the important PID
parameters to tune and proper feed forward order. If you dont get this right
you will be going in circles...
zeroth order eg spindle velocity loop with velocity mode drive
Main tuning parameter = I
feedforward = FF0
first order eg position loop with velocity mode drive
Main tuning parameter = P
feedforward = FF1
second order eg position loop with torque mode drive
main tuning parameter = D
feedforward = FF2
Peter Wallace
Mesa Electronics
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