Steady-state feedforward compensation for discrete time multivariable systems
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A class of discrete-time feedforward controllers that are designed for steady-state disturbance rejection and command tracking are introduced for linear multivariable systems. The controllers use discretized future set points along time-varying trajectories of the exogenous inputs described by linear models. This is in contrast to the use of the time derivatives of the instantaneous set points in the conventional asymptotic tracking controllers. As a result, apart from numerical noise reduction, the need for real-time generation of the derivative states of the exogenous input models is avoided for the purpose of realization of the feedforward controllers.
KeywordsDiscrete Time Noise Reduction Input Model Disturbance Rejection Derivative State
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