DESIGN OF MIMO COMPENSATORS FOR SYSTEMS WITH UNMEASURABLE DISTURBANCES - THE POLYNOMIAL APPROACH

Presented is the frequency domain design of linear time-invariant (reduced-order) compensators for systems subject to unmeasurable arbitrary disturbances of a given class such that the controlled variables asymptotically become equal to pre-assigned tracking signals of a given class, independent of the disturbances occurring in the system. The frequency domain results are shown to be equivalent to those from known time domain approaches. It is further suggested to modify the above results in order to obtain an improved reference behaviour and to use a compensator structure which allows a systematic reset windup prevention.