Feedforward in LinearSystemLoop #6649
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calcmogul
narmstro2020
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Would anything be gained in the LinearSystemLoop by having its internal feedforward include kS and kG components accordingly for arm and elevator systems? |
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Answered by
calcmogul
May 23, 2024
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That doesn't make it a linear system anymore. Users should add the nonlinear components of the feedforward to the motor output themselves. LinearSystemLoop is also intended as a "good baseline" class. If users need something more complex, they should do it themselves. |
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Thanks again ! |
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narmstro2020
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That doesn't make it a linear system anymore. Users should add the nonlinear components of the feedforward to the motor output themselves.
LinearSystemLoop is also intended as a "good baseline" class. If users need something more complex, they should do it themselves.