# Advanced

- [Full State Feedback](/advanced/full-state-feedback.md): A modern control theory approach to feedback control
- [The Kalman Filter](/advanced/the-kalman-filter.md): State observation is a crucial component of control theory but is often overlooked in FTC
- [Gain Scheduling](/advanced/gain-scheduling.md): Some systems may fail with a simple linear controller such as PID. Let's fix that!
- [Motion Profiling](/advanced/motion-profiling.md): What are motion profiles, and how can they help us in FTC?
- [SMARTDAMP Algorithm](/advanced/smartdamp-algorithm.md): Our custom approach to PID tuning