A QFT solution to the ACC benchmark tracking problem

In this work, the Quantitative Feedback Theory (QFT) method is used to find a control solution for the well-known ACC benchmark problem. Unlike previous contributions, this one addresses the tracking problem. The solution is based on a two-degree-of-freedom control scheme. To cope with the demanding requirements of the problem, an innovative use of Bessel filters as tolerances is presented, replacing the usual second order models.