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How to add disturbance feedforward to LQI()
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- gff2=const, ie F evaluated at 0 ("The only thing to implement is to make gff2 a constant value"...ie -5.008e7), and
- gff2=function of Ktheta and Kvel: "F = -7.0362e-06 (s+4.155e06) (s+1.713e06)", but with an implementable version with 2x fast poles: *(1e8^2 / (s+1e8)^2), with ~same result as the constant
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- discrete gains via discrete lqi() form using the loop time
- discretized F(s) using the loop time with c2d()
- still using a continuous plant (ie digital control of a physical plant).
- Simulink using rate transition blocks for the states x and output y, and a discrete-time integrator. (So, x1 (theta) and x2 (vel) are still continuous-time)
- The discrete-time loop time is fast enough that doubling the rate has no impact on Ym response.
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