Abstract
A new approach to the design and tuning of two degrees of freedom linear digital controllers is presented. The important properties of the proposed method are that the controller structure is directly obtained from the model used and that a small number of adjustable parameters can be easily tuned manually to obtain high closedloop system performance both in the set-point response and in the load disturbance rejection. The method is applicable on both type-0 and-1 plants and is effective in the presence of a poorly damped complex-conjugate pole pair, a non-minimum phase zero or a dead-time. The proposed design and tuning procedures are illustrated by simulation examples, including the analysis of the IFAC '93 benchmark control problem.
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