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I don't have time to read the paper right now, but yeah generally feed-forward just means providing the signal you expect will give you the output you want. That would mean you have some advance knowledge of how to jockey the system to get the output you want, which is some kind of model. The model can be anything - differential equations, a lookup table, ...
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In modern industrial motion control, the communication between the controller (motion controller, robot controller, CNC contoller) is typically done with:
Profinet
CanOpen
Sercos
EtherCAT
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