Description
Add supplied feedback and feedforward commands.
Control terms depend on error sign, units, sample timing, saturation direction and state conventions. Hysteresis retains state between thresholds, while deadband mapping and output clamping describe different operations. A negative loop-sign product or small scalar derivative does not establish closed-loop stability or safe operation.
Add supplied feedback and feedforward commands.
When to use this tool
Use Feedback Feedforward Scalar Sum when you already have feedbackCommand, feedforwardCommand and need to add supplied feedback and feedforward commands.
How to use the tool and how it works
- Enter feedbackCommand, feedforwardCommand. Use the units and conventions below.
- Run the tool. Correct any format, range, or cross-field input error before interpreting the output.
- Read combinedCommand. Use the output convention below.
Return feedbackCommand+feedforwardCommand.1
| Input field | Meaning and units | Accepted input |
|---|---|---|
| feedbackCommand | Feedback Command | Required. Finite number. |
| feedforwardCommand | Feedforward Command | Required. Finite number. |
| Output field | Interpretation | Returned shape |
|---|---|---|
| combinedCommand | Combined Command | Required. Finite number. |
{
"input": {
"feedbackCommand": 3,
"feedforwardCommand": 5
},
"output": {
"combinedCommand": 8
}
}Limitations and assumptions
- Units, actuator reference and sign must match. No feedforward model, feedback law, saturation, stability or safe plant command is inferred.
- Inputs must satisfy both the field types and the cross-field conditions above. Invalid input causes an error; a successful false flag or documented placeholder is a different result.
- Numeric calculations use binary floating point unless exact decimal-integer arithmetic is explicitly stated. No hidden measurement tolerance or decimal rounding is added; nonfinite or out-of-contract results are rejected. Numeric signed-zero results are exported as zero.
Alternative or Complementary methods
Use a complete plant, controller, actuator and timing model with verified operating constraints for control decisions. Check interactions among saturation, integrator state, gains and delays; individual algebraic terms do not tune a controller or validate system stability or safety.
References
Similar or alternative tools
- Proportional Control Step
Calculate one supplied proportional-control command with bias.
- Actuator Saturation Residual
Clamp a requested output to supplied bounds and return its signed residual.