I'm working on an application that rotates a cylindrical mass in a manner to compensate for roll in a boat. The roll of the boat is rather slow so I was thinking it might be possibly to simply use a PID loop to control the angular position of the mass with a load encoder and feed roll data from a sensor to it as a set point or trajectory.
I was also thinking maybe it would be better to use a cascade control scheme with the angular control using a position sensor/encoder for angle control and then an outer loop around the roll sensor. My thinking is that this would more accurately track the roll.
Maybe feedforward is also a solution, but again, with roll not "in the loop" I'm thinking it won't be as accurate. What its the thought process to determine an optimal control scheme? What would you recommend?