### Position Loop

Position controller

PID with feed forward

### Velocity controller COMPMODE

sets the velocity controller design method.

> 0 - PI: GV, GVI
> 1 - PDFF: KV, KVI, KVFR
> 2 - Standard Pole Placement (low-frequency): MKT , MJ , BW, LMJR, TF
> 3 - Advanced Pole Placement: VD, VF, VH, VR , VFI , VG
> 4 - Standard Pole Placement (high-frequency): MKT , MJ , BW, LMJR, TF

Links:

App Notes:

> Position Control

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