How can feedforward be used with PID for motion control
Once the motor has accelerated to full speed (coasting) you could potentially overshoot the target position if it is close-by so, instead, you can use feed-forward to limit the full speed to a value that is based on 


The knowledge of the starting position and 
The "distance" to target position


You might also choose to preset some PID values based on the distance you need to travel to optimize the algorithm rather than use one-size fits all mentality.