How to feed forward control in the feedforward control methods and surgical systems ,

摘要

In some embodiments, a method of using a feedforward control system components may include a step of determining whether or not present in the operating setpoint feedforward term is received in the feedforward table. If the feed-forward term is not present, the system component may be incremented until it is migrated to the system within the tolerance of the first set of points required. In some embodiments, the steady state error amount is determined and can be compared with the allowable value of the second. In some embodiments, when the feed-forward term is present in the operating set point, the system component may be controlled using the controller output corresponding to the feed-forward term. When associated with changes that can occur for the feed-forward amount, a change to the system is detected, a new feed forward amount may be generated in the feedforward table.