Abstract
For discrete-time models with direct feedthrough terms, we consider a design of integral controllers which cancel disturbances by use of disturbance estimates. For this problem, we propose a new LTR technique targetting a state feedback integral controller including a disturbance estimator. The proposed procedure recovers the target feedback property provided a plant is minimum phase. For non-minimum phase plants, we discuss the feedback property obtained by enforcing the LTR procedure using an explicit expression of the sensitivity matrix.
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