Countertop filtered water dispenser

A beverage system for filtering fluid comprising:

• a filter unit;
• a dispensing outlet;
• a pump configured to pump the fluid from a fluid source, through the filter unit, to the dispensing outlet;
• at least one flow meter configured to measure a flowrate of the fluid being pumped through the beverage system;
• and
• a controller including at least one processor and a memory storing instructions which, when executed by the at least one processor cause the at least one processor to perform operations comprising:
• receiving a request to dispense a filtered beverage,
• operating the pump at a feedforward duty to pump the fluid from the reservoir, through the filter unit, to the dispensing outlet,
• receiving, via the at least one flow meter, the flowrate of the fluid being pumped through the beverage system,
• calculating a flowrate error based on a difference between the flowrate and a target flowrate,
• adjusting the duty of the pump based on the flowrate error, and
• updating the feedforward duty responsive to determining that the flowrate error is below a threshold for a steady state time period.