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For instance, the scenarioscenario described by daweim0daweim0 will definitely require the integral gain to have zero steady-state error while counteracting the gravity component. The feed-forward term will be very helpful too.

For instance, the scenario described by daweim0 will definitely require the integral gain to have zero steady-state error while counteracting the gravity component. The feed-forward term will be very helpful too.

For instance, the scenario described by daweim0 will definitely require the integral gain to have zero steady-state error while counteracting the gravity component. The feed-forward term will be very helpful too.

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Usually, what happens in practice is that you barely have access to the commanded torque. Instead, you can can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

Usually, what happens in practice is that you barely have access to the commanded torque. Instead, you can can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

Usually, what happens in practice is that you barely have access to the commanded torque. Instead, you can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

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Usually, what happens in practice, is that you barely have access to the commanded torque. Instead, you can can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

Usually, what happens in practice, is that you barely have access to the commanded torque. Instead, you can can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

Usually, what happens in practice is that you barely have access to the commanded torque. Instead, you can can control electrical quantities, such as voltage and/or current, that in a electrical motor can be readily related to the torque applied to the shaft. This is to say that further dynamics appear in the response and thus the PID should be aware of them.

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