Speed Loop Anticipation

Anyone have an idea how to set up a speed close control loop to start to regulate before it’s speed setpoint. The deractive term is normally used to anticipate but it’s not working well for us as it create instability in the system. Is there any other strategie possible with a RMC151E ? To goal is to eliminate speed overshoot. The hardware used is not fast enough to catch it (speed) that’s the reason why we are trying to start regulation sooner.

Thank you

I would try to use the Velocity I-PD mode and see if that works for you. In the help is states:

The Velocity I-PD does not respond as quickly and does not use Feed Forwards. Therefore, it will always lag behind the Target Velocity when it changes. It is easier to tune for no overshooting and can handle step jumps better than the velocity PID.