These slides present several contributions to improve the feedforward control approaches when inversion problem arise:  the ideal compensator may not be realizable due to negative delay, having more zeros than poles, poles in the right-half plane, or in general non-minimum phase behaviours. New tuning rules will be presented for most of these situations when a PID controller is combined within a feedforward control scheme. Moreover, a robust design methodology for simultaneous feedback and feedforward tuning will be shown. Finally, new performances indexes are described to determine the contribution of typical feedforward schemes in literature.