14. PD Incorporating Feedforward Control
C3 L2 L9 Incorp Feed Forward V2
PD Controller:
While the p-term adjusts the thrust so that the vehicle's position matches the target position,
the d-term is responsible for adjusting the thrust so that the vehicle's velocity matches the target velocity.
From the graphs below we can see how different values of Kd affect the trajectory (note: the value of Kp is maintained the same for both situations).
With low values of Kd, it takes longer to "settle" the oscillations. Higher Kd values will allow the drone to settle quicker.
Note: If Kd is too high, then the control gives an excessive response, more abrupt corrections that risk to
overshoot the reference trajectory. (see below with Kd=3.0)
