Control system having variable gain feed forward (VGFF) control

A system (100) for controlling a plurality of actuators (122), the system (100) comprising:

• at least one device (120) for operating the plurality of actuators (122);
• at least one processor in communication with the at least one device (120);
• and a memory coupled to the at least one processor, the memory storing data comprising program code that, when executed by the at least one processor, causes the system (100) to:
• perform an initialization procedure to determine a plurality of gain values (566) in a gain array (168), wherein each of the plurality of gain values (566) represent a gain produced by performing a specific test at a unique load exerted by the plurality of actuators (122);
• receive as input a profile number (164) indicating the specific test being performed by the system (100) and a profile row (166) indicating the unique load exerted by the plurality of actuators (122);
• select a predetermined gain output (170) from the gain array (168), wherein the predetermined gain output (170) is selected based on the profile number (164) wherein the gain array (168) is a matrix containing the plurality of gain values (566), and
• determine a control value (118) based in part on the predetermined gain output (170), and a feed forward signal (140), wherein the control value (118) instructs the at least one device (120) to move the plurality of actuators (122) to a required load.