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使用 PID 前馈滤波减少过冲

前馈比例权重越小，过冲会越低，且不会影响到达稳态的时间.

比例权重 b 取不同值时的 UnitStep 参考响应：
Wolfram Language code: ryTFM[b_] := PIDTune[TransferFunctionModel[Unevaluated[{{(E^-0.3s/(0.2s + 1)(3s + 1))}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}], Automatic, "ReferenceOutput", PIDFeedforward -> b]
Wolfram Language code: Plot[Evaluate@Table[OutputResponse[ryTFM[b], 1, {t, 0, 8}], {b, Range[0.5, 1, 0.1]}], {t, 0, 8}, Frame -> True, PlotRange -> All, PlotLegends -> {"b=0.5", "b=0.6", "b=0.7", "b=0.8", "b=0.9", "b=1"}, ImageSize -> 400]