FeedforwardKompensation

Feedforward compensation is a control system technique used to improve the performance of a system by actively counteracting known disturbances or desired future states. Unlike feedback control, which reacts to errors after they occur, feedforward control anticipates and acts before an error can manifest. It utilizes a model of the system or knowledge of the expected input to predict the necessary control action.

The core principle involves measuring or estimating an input signal or disturbance that is expected to affect the system's output. This information is then processed through a feedforward controller, which calculates a corresponding control signal. This signal is then applied to the system's actuators, aiming to directly counteract the anticipated effect of the disturbance or to achieve the desired output trajectory.

Feedforward compensation is often used in conjunction with feedback control. While feedback corrects for unexpected disturbances and modeling inaccuracies, feedforward handles known influences more efficiently, reducing the burden on the feedback loop. This combination can lead to faster response times, improved accuracy, and greater robustness. Common applications include robotics, process control, and servo systems where precise trajectory tracking or disturbance rejection is critical. The effectiveness of feedforward compensation depends heavily on the accuracy of the system model and the predictability of the disturbances.