Feedforward Compensation

Feedforward compensators may be added for almost any disturbance, as shown by Figure 20.7. Physically each may be implemented, as discussed in Chapter 12, with an impulse function and a summer connected inside of the composition feedback controller reset circuit.

Individual feedforward compensator functions may be determined in a very simple fashion. Let us, for example, look at feedforward compensation for feed-rate changes, F. If the compensators do a perfect job, then yT(s) = 0 and xB(s) = 0, and there will be no contribution from the feedback controllers. Then, to make yT(s) = 0, we can see by inspection of Figure 20.7 that:

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