This chapter presents methodologies for the design of feedforward control actions to be employed together with feedback PID controllers. Both set-point following and load disturbance rejection tasks will be considered. Regarding the set-point following task, after having presented the standard two-degree-of-freedom control scheme, the design of a causal feedforward action and of a noncausal feedforward action is presented. In the first case, the use of a (nonlinear) two-state control law is considered. In the second case, to be employed when desired process output transitions are known in advance, strategies based on input–output inversion are employed both in the continuous-time and discrete-time frameworks. Regarding the load disturbance rejection task, new simple tuning rules for design of feedforward compensators will be addressed. The problem of feedforward from load disturbances is analyzed, and it is shown that the feedback controller should be taken into account in the feedforward design process. Simple rules based on IAE minimization with restrictions on the process output overshoot and the high-frequency gain of the compensator are derived.