Computer synthesizes feed forward/feed back control

The most common method of feedforward/feedback control is to combine the feedforward signal with the feedback output by using biasing hardware. This approach generally is acceptable. But in an existing control loop, if the set point of the controller can be adjusted (or cascaded) by computer, a new method to implement feedforward control without any additional biasing hardware can be utilized. That is, the feedforward compensation manipulates the controller set point directly. In this way, a synthetic feedback also can be combined with the feedforward signal to trim the offset.