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Feedforward and Inverse Feedforward Response

The feedforward response is the response from a position command input at r to the feedforward control effort output at u_F. The inverse feedforward response is the response from an input at u_F to r. For the best dynamic performance, make sure that the magnitude and phase of the inverse feedforward response are almost the same as the plant response, where the plant response behaves almost the same as a free-mass model.

 

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