Feedforward Closed loop question

[narmstro2020]

In Controls engineering for FRC it’s mentioned that combining Feedback and Feedback control one really doesn’t need a kI value for a PID controller. KP KD and the FF constants will suffice.

Is there a way to conceptualize translating to PID only from FF and PD?

[narmstro2020]

I guess my question is this. Are there sysID equivalent equations to generate PID values instead of ks, kv, ka and PD values. Or is there a mathematical way to translate at least roughly?