is an option to PIDTune that controls the reference weights used for the feedforward filter.


  • For a PID controller , the feedforward weights and affect what fraction of the reference signal to feed the proportional and derivative terms of the controller.
  • Possible settings include:
  • None{1,1}; use no weights
    Automaticautomatically compute weights
    b{b,1}; set the proportional weight
    {b,c}set proportional and derivative weights


Basic Examples  (1)

Specify the reference weights of the feedforward filter and extract the filter transfer function:

Set only the proportional weight:

The automatically computed proportional weight:

Introduced in 2012