Abstract
The Purpose of this paper is to provide better understanding of the main design feature behind the loop transfer recovery (LTR) at the plant output. The delta operator formulation is particularly used to treat the discrete as well as the continuous time cases in a unified framework. Indeed, the underlying results are shown to converge smoothly to the appropriate continuous time results as the sampling rates increases. The design limitations due to the unstable zeros as well as the input disturbances are emphasized.
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