SYNTHESIS OF DISCRETE-TIME NONLINEAR FEEDFORWARD FEEDBACK CONTROLLERS
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This work concerns the synthesis of discretetime feedforward/feedback control systems for general nonlinear processes with stable zero dynamics. Depending on the process under consideration, the derived feedforward/feedback controllers can completely eliminate the effect of measurable disturbances and produce a prespecified linear response with respect to a reference input, or provide integralsquare error optimal response to step changes in the disturbances and a prespecified linear response with respect to a reference input. In either case, the developed feedforward/feedback controllers allow for the asymptotic rejection of unmeasurable disturbances. These controllers are derived within the globally linearizing control framework, first under full state information and then in the absence of state measurements. The internal stability of the closedloop system is addressed. The derived controllers are interpreted from a modelpredictive point of view, and their connections with the feedforward internal model control and the model algorithmic control are established. The theoretical results are illustrated through a continuous stirredtank reactor example. Copyright 1994 American Institute of Chemical Engineers
