Feedforward for Robust Reference Tracking in Multi-Input Feedback Control

This paper examines methods to incorporate feedforward loops of known external inputs (output reference) into a multi-input feedback control structure achieve certain robust performance its output. Undoubtedly, can reduce the need for and therefore amplification sensor noise at actuators, as occurs in single-input control. Beyond that, since there are several available inputs, convenient distribution minimise action each input offer benefits all frequencies. The procedure is follows: because rough plant models behaviour from output, it possible approximate individual demand that will satisfy performance. Based on this, filters allocate bandwidth among order build an equivalent has equal or greater magnitude than any frequency. Next, uncertainty this addressed by reduces closed loop deviation frequency responses. reduction sufficient enable master place them, second step, around desired tracking model without violating tolerances. Individual controllers distribute total have least A first example illustrates method relevance orientation action, instead action. Another proves superiority adding feedback-only schemes highlights design such Quantitative Feedback Theory (QFT). also provides algorithms employ response new specifications framework QFT.