Editing Feed forward (control) (section)

== Benefits ==
The benefits of feedforward control are significant and can often justify the extra cost, time and effort required to implement the technology. Control accuracy can often be improved by as much as an [[order of magnitude]] if the mathematical model is of sufficient quality and implementation of the feedforward control law is well thought out. [[Energy consumption]] by the feedforward control system and its driver is typically substantially lower than with other controls. Stability is enhanced such that the controlled device can be built of lower cost, lighter weight, springier materials while still being highly accurate and able to operate at high speeds. Other benefits of feedforward control include reduced wear and tear on equipment, lower maintenance costs, higher reliability and a substantial reduction in [[hysteresis]].  Feedforward control is often combined with feedback control to optimize performance.<ref name=onote1>Oosting, K.W., Simulation of Control Strategies for a Two Degree-of-Freedom Lightweight Flexible Robotic Arm, Thesis, Georgia Institute of Technology, Dept. of Mechanical Engineering, 1987.</ref><ref>{{cite web|title=Feedforward control|url=http://www.bgu.ac.il/chem_eng/pages/Courses/oren%20courses/Chapter_9.pdf|publisher=Ben Gurion University|access-date=23 February 2013|archive-date=27 November 2020|archive-url=https://web.archive.org/web/20201127015921/http://www.bgu.ac.il/chem_eng/pages/Courses/oren%20courses/Chapter_9.pdf|url-status=dead}}</ref><ref name=onote3>Hastings, G.G., Controlling Flexible Manipulators, An Experimental Investigation, Ph.D. Dissertation, Dept. of Mech. Eng., Georgia Institute of Technology, August, 1986.</ref><ref name=onote30>Oosting, K.W. and Dickerson, S.L., "Low-Cost, High Speed Automated Inspection", 1991, Industry Report</ref><ref name=onote31>Oosting, K.W. and Dickerson, S.L., "Feed Forward Control for Stabilization", 1987, ASME</ref>