A two-degree-of-freedom design of optimal servosystems for reference signals of step functions is proposed. An optimal tracking problem is considered as an optimal regulator problem for a variation system that is defined around the steady state determined by the reference signal. An integral compensator is applied to the resultant control system in order to cope with modeling errors of the plant and constant disturbance inputs to the plant. To preserve the optimal tracking property for reference signals, complementary state feedback is used to cancel the effect of the integral compensation in the ideal case of no modeling error and no disturbance input.
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