This is a great short overview, and timely for the First Robotics Competition season. I took a course on this in college, and while that course mentioned the n

This is a great short overview, and timely for the First Robotics Competition season. I took a course on this in college, and while that course mentioned the notion of sampling the D signal directly from feedback instead of from error, it never laid out why. This guide's practical explanation of why one might want to do that is great.