Single input single output rate optimal controller

摘要

A nonlinear, time-variable digital controller and a general method for its synthesis. The processing of the reference load and the disturbance changes are kept totally separated. This benefits the designer because he can treat any control task as a pure tracking problem in which one unit is responsible for planning and synthesizing the controlled system's trajectory to move it into a desired state, and another unit takes care of possible deviations from the trajectory due to disturbance or load changes. Since the two units are independent, the designer is free to choose their characteristics arbitrarily.