Compensator design based on the invariance principle
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A systematic procedure is presented for designing a compensator for a linear time-invariant multivariable system, in such a way that the resulting disturbance transfer function is nulled. The compensator is of combined feedforward and feedback type in that it is driven by the disturbances and the available system outputs. Copyright 1975 by The Institute of Electrical and Electronics Engineers, Inc.
IEEE Transactions on Automatic Control
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