Re: [Emc-users] Different acceleration profiles --> state feedback control (error in sign)

Robust control work so well research in control theory has really dried, then can you tell me how to make robust control so we could change from PID with feed forward to robust control? 2017-03-22 23:28 GMT+01:00 Eric Keller : > I think you want to use feed-forward terms as

Re: [Emc-users] Different acceleration profiles --> state feedback control (error in sign)

I think you want to use feed-forward terms as well. If you look at robust control, which pretty much obliterated pole-placement and optimal state feedback control, the general case includes feed-forward terms. This negates the problem that there always has to be an error in order for there to be

Re: [Emc-users] Different acceleration profiles --> state feedback control (error in sign)

There is an error in sign, it should be: (angle_ref - angle_mesaured)*gain1 + (velocity_ref - velocity_measured)*gain2 + (current_ref - current_measured)*gain3. From the set reference value for position the model is used used to calculate set reference value for all three values. There may also