Abstract: The single and multi-loop feedforward control often used in practical engineering are discussed in this article. The objects to be controlled are divided into two groups, selfbalancing or non-self-balancing, for each group the transfer function is transfered into a standard expression. Various types of feedforward controller and their respective parameter calculation formulas are derived by low-order approximation. The above results and method can be used in the multivariable control system to find out every element of the feedforward transfer function matrix and calculate its appropriate parameters.