Velocity Feedback Element for Position Control

[fuzzycontrolfreak]

Hi everyone,

I'm working on a project in which i'm trying to control the position of a hydraulic linear actuator. I was told that a velocity signal fedback to the controller helps making a much better response. Not much is stated in the control theory texts i have, and i would like to know more about this, especially that i have a velocity sensor that's built in my system.

I have already tried control without the velocity feedback and have achieved satisfactory results, but i would like to exploit the sensor, and investigate the improvements.

Attached is the control loop for clarification, i would like to know general techniques for tuning the gain 'k' at the velocity feedback loop.

If there is any other more applicable or reliable loop to be used, i'd appreciate the recommendation.

Thanks in advance for all the replies...