I have Mathcad 13. I can export files in .mcd, xmcd, and xmcdz which we know you can't read. xmcd files are basically html files.
This is how we calculate the feed forwards gains.
https://deltamotion.com/peter/Mathcad/Mathcad - RMC75's Feed Forward Gains.pdf
You can see if we can estimate the model accurately there will be little to know error.
Here is an example of a simple motion for a motor. I simulate a disturbance between .45 an 0.55 seconds. If it weren't for the disturbance, the motion would be almost perfect.
Notice that at the bottom of page 2/12 I simulate modeling errors. I do this to test for robustness. I also like to test the response to disturbances and quantizing ( resolution ) errors although I don't see where I simulated a course resolution.
MaxK, you really should learn how to do simulations using systems of differential equations.
Notice that the poles zero plot has the closed loop poles on the negative real axis. This normally means the system is critically damped and able to achieve the fastest response/minimum error possible. It is only limited by the resolution of the feedback.
There is another thread about tuning a PID on a SLC500. It involves some hydraulics and pneumatics. These are inherently non-linear. I can model those easily but I had to use differential equations because they make it possible to simulate non-linear systems.
https://deltamotion.com/peter/Mathcad/Mathcad - Hydraulic Cylinder.pdf
BTW, I used this simulation as a starter for simulating the fuel injection for a diesel engine for the US department of energy.
You don't find this stuff in text books.