Transient response comparison of feedback and feed-forward compensation methods in systems with zero steady state error

Proportional–Integral–Derivative (PID) controllers with integral action are conventionally used as feedback controllers. They are used to obtain zero steady‐state error when the reference input or the disturbance are steps and where zero‐type systems (i.e. with no poles at the origin) are controlled. The controller meets its objective when the controlled system is non linear, but usually introduces undesirable changes in the dynamics that must be compensated by readjusting the proportional gain. In this paper, we compare PID with two alternative techniques based on the use of a feed‐forward system and a multiple feedback system, respectively. A detailed comparison of the transient response obtained with these methods is presented and validated with some simulation examples.This research is in receipt of funding from the Spanish Ministry of Science, Innovation and Universities (COG-DRIVE project: Artificial Intelligence Techniques and Assistance to Autonomous Navigation, reference DPI2017-86915-C3-3-R). It has also received funding from the RoboCity2030-DIH-CM Madrid Robotics Digital Innova-tion Hub project (Robótica aplicada a la mejora de la cali-dad de vida de los ciudadanos. fase IV; S2018/NMT-4331),funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded through EU Structural FundsPeer reviewe