Feedback Synthesis with two Degrees of Freedom: {G, H; P} Controller

Abstract Given a multiinput/multioutput plant P, {G, H; P} compensation with controllers G, H in the feedforward, feedback paths, respectively, is used to obtain desired command/output, command/control responses (T, M) under internal stability; necessary and sufficient conditions are derived. It is shown for a broad class of (T, M) that a solution exists with H stable. Furthermore, it is shown that feedback properties in addition to internal stability can be obtained as if the response requirements are not present; this is done by first designing GH and then appropriately choosing the controllers G and H.

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