# Motion feedforward estimate
# Scope: Rigid mass acceleration feedforward plus supplied viscous friction.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

mass = 2 kg
acceleration = 1 m/s^2
viscous = 5 N*s/m
speed = 0.2 m/s

force := mass*acceleration+viscous*speed [N]

check force budget: force <= 5 N

scenario alternative: mass = 1.6 kg