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01The loop
Core Feedback Concepts
How systems sense, decide, and act — and the domains and math used to describe them.
Feedback & Feedforward
Feedback control
Closes the loop by measuring behavior and correcting error.
Feedforward control
Acts from a model or known command before error appears.
Full-state feedback
Uses the entire state vector, often as u = -Kx, when states are measured or estimated.
Output feedback
Uses measured outputs directly or through an observer.
Separation principle
Designs state feedback and an observer separately for many linear output-feedback problems.
Compensator design
Combines controller and observer dynamics when the full state is not directly measured.