Thanks man, very well explained, a student from Viet Nam with love

In feedback control loops, the controller is often implemented as a cascade, ratio, or feed forward controller. The cascade controller consists of a series of two or more subsystems, each of which performs a specific task. The ratio controller compares the output of one subsystem to the input of another and adjusts the output of the first subsystem so that the ratio of the two remains constant. The feed forward controller anticipates future changes in the input and outputs a signal that will maintain the desired result. Each type of controller has benefits and drawbacks that must be considered when choosing the best implementation for a particular application.

Feed Forward Control starts at 41:08

Thanks for the good explanation ! Could you indicate a good book with explanations of practical applications of controls?

can we increase Td to remove the offset as well? 5:25 mark