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Feed forward (control)
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== History == Historically, the use of the term ''feedforward'' is found in works by [[Harold S. Black]] in US patent 1686792 (invented 17 March 1923) and [[Donald MacCrimmon MacKay|D. M. MacKay]] as early as 1956. While MacKay's work is in the field of biological control theory, he speaks only of feedforward systems. MacKay does not mention ''feedforward control'' or allude to the discipline of ''feedforward controls''. MacKay and other early writers who use the term ''feedforward'' are generally writing about theories of how human or animal brains work.<ref name=onote37/> Black also has US patent 2102671 invented 2 August 1927 on the technique of feedback applied to electronic systems. The discipline of ''feedforward controls'' was largely developed by professors and graduate students at [[Georgia Tech]], [[Massachusetts Institute of Technology|MIT]], [[Stanford University|Stanford]] and [[Carnegie Mellon University|Carnegie Mellon]]. Feedforward is not typically hyphenated in scholarly publications. Meckl and Seering of MIT and Book and Dickerson of Georgia Tech began the development of the concepts of Feedforward Control in the mid-1970s. The discipline of Feedforward Controls was well defined in many scholarly papers, articles and books by the late 1980s.<ref name=onote1/><ref name=onote2>Alberts, T.E., Augmenting the Control of A Flexible Manipulator with Passive Mechanical Damping, PhD. Thesis, Georgia Institute of Technology, Dept. of Mechanical Engineering, August 1986.</ref><ref name=onote31/><ref name=onote33>Bruno Siciliano and [[Oussama Khatib]], ''Springer Handbook of Robotics'', Springer-Verlag, 2008.</ref>
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