Feedforward digital tracking controller

A digital tracking controller for linear time invariant control systems is presented which is based on feeding forward the reference input and its delayed values. A necessary and sufficient condition for the existence of the proposed controller is also given. The choice between the proposed feedforward tracking controller and one based on error integral augmentation depends on the characteristics and requirements of the system under consideration. In certain cases, a better result can be achieved by using a combination of the two methods.<
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