Feedforward Control

This lecture covers the concept of feedforward control, aiming to achieve zero steady-state error by adding an integrator to learn the required steady-state input. The lecture discusses the challenges of integrators in decreasing system stability and proposes a solution by computing the required input and adding it to the system. It also delves into the characterization of second-order systems, providing insights on percent overshoot and design examples of feedforward controllers to achieve specific goals. The lecture concludes by highlighting the advantages of feedforward control in handling complex nonlinear and constrained systems.