In my application, I am attempting to control the contact force of an end effector. I am getting very poor performance for two primary reasons: the feedback signal has 1) internal delay and it is significantly 2) undersampled.
Unfortunately I am very limited and I cannot improve on the delay of the feedback signal, however I believe there are methods on improve the sampling rate.
I have heard that you can use a Kalman filter in the feedback line to extrapolate in real-time and predict feedback information and improve on sampling. Before adventuring into this, I was wondering if someone can confirm that you can use a Kalman filter to do this. If not, what other methods can be used. Internal modeling is difficult because this system is dominated by external disturbances.