Use when designing or tuning control loops beyond a single PID — cascade (current/velocity/position) architectures, feedforward (gravity, Stribeck friction), gain scheduling, LQR, and Model Predictive Control. Provides bandwidth-separation rules, discretization-correct implementations, worked cartpo
Use when designing or tuning control loops beyond a single PID — cascade (current/velocity/position) architectures, feedforward (gravity, Stribeck friction), gain scheduling, LQR, and Model Predictive Control. Provides bandwidth-separation rules, discretization-correct implementations, worked cartpole LQR example, exact starting gains, and the failure modes that destroy actuators on real hardware.