# Advanced - [Full State Feedback](https://www.ctrlaltftc.com/advanced/full-state-feedback.md): A modern control theory approach to feedback control - [The Kalman Filter](https://www.ctrlaltftc.com/advanced/the-kalman-filter.md): State observation is a crucial component of control theory but is often overlooked in FTC - [Gain Scheduling](https://www.ctrlaltftc.com/advanced/gain-scheduling.md): Some systems may fail with a simple linear controller such as PID. Let's fix that! - [Motion Profiling](https://www.ctrlaltftc.com/advanced/motion-profiling.md): What are motion profiles, and how can they help us in FTC? - [SMARTDAMP Algorithm](https://www.ctrlaltftc.com/advanced/smartdamp-algorithm.md): Our custom approach to PID tuning --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://www.ctrlaltftc.com/advanced.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.