I think you want to use feed-forward terms as well.  If you look at
robust control, which pretty much obliterated pole-placement and
optimal state feedback control, the general case includes feed-forward
terms. This negates the problem that there always has to be an error
in order for there to be control action.  Integrators will, in
general, promote oscillation.
Robust control can work so well that research in control theory has
really dried up.


On Wed, Mar 22, 2017 at 5:43 PM, Nicklas Karlsson
<nicklas.karlsso...@gmail.com> wrote:
> There is an error in sign, it should be: (angle_ref - angle_mesaured)*gain1 + 
> (velocity_ref - velocity_measured)*gain2 + (current_ref - 
> current_measured)*gain3. From the set reference value for position the model 
> is used used to calculate set reference value for all three values. There may 
> also be an individual integrator for each.
>
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