Feed forwards augment

PID control
In closed-loop motion control applications, it is common to
multiply the target speed and target acceleration by the
velocity and acceleration feed forwards to generate the
feed forward’s contribution to the control output. Feed
forward augmentation is a prediction technique that
estimates the output from a proportional-integral-
derivative (PID) control algorithm without waiting for the
PID algorithm to respond. Feed forward reduces the error
faster or keeps the error smaller than relying on the PID
algorithm alone.