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For zero steady state tracking error it is necessary to include integrators in the control loop in the case of reference signal generated by integrators. This result can be generalized to arbitrary unstable modes of the reference generator according to the “internal model principle”. This paper shows an alternative solution of the asymptotic reference signal tracking problem using feedforward. The solution is not robust but gives a feedback controller with reduced complexity. Robust tracking...
Numerical operations on and among rational matrices are traditionally handled by direct manipulation with their scalar entries. A new numerically attractive alternative is proposed here that is based on rational matrix interpolation. The procedure begins with evaluation of rational matrices in several complex points. Then all the required operations are performed consecutively on constant matrices corresponding to each particular point. Finally, the resulting rational matrix is recovered from the...
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