By now you should have some sort of a Zig controller working, one that damps out oscillations. You probably built that controller, based upon intuition and some reflection on the role of “anticipation”. In the video below, we look at the mathematical theory that explains why it works, and allows us to quantify your controller’s performance. Specifically, we derive the closed-loop transfer function of the system with our PD controller.
Part 2 of the video is still to come…