In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is...

The disturbance rejection, defined as the problem of designing control laws that ensure, where possible, exogenous disturbances that do not affect the output of the perturbed system, has been resolved by means of algebraic and geometric techniques. This is a steady linear case by means of the static feedback state. Modifications of the Smith form through the SPR0 substitutions are presented whi...

The robust disturbance rejection bounds in [11 are tight with respect to the disturbance set that has a specified L , norm bound. This note shows that the robust disturbance rejection bounds in [11 are also tight with respect to a weighted L , disturbance set that has a specified bound on its outer product by choosing a special weight matrix in the L , norm. The matrix can be computed by numeri...

Discrete-time adaptive disturbance rejection has broad engineering and scientific applications. It is most relevant in active noise and vibration control. Disturbance rejection algorithms can be of two types, feed-forward or feedback. The latter generally exhibit superior performance since they take into account the effect of the feedback path from control to measurement. In this paper we propo...

A number of indicators for the determination of the disturbance rejection capability of a system have been proposed in the literature in the last two decades. These tools are useful for evaluating early stage process designs and screening regulatory control structures, since they are based on minimal modelling requirements. In previous publications (Hovd and Braatz, 2000; Hovd et al., 2003; Koo...

The magnitude optimum (MO) method provides a relatively fast and nonoscillatory closed-loop tracking response for a large class of process models frequently encountered in the process and chemical industries. However, the deficiency of the method is poor disturbance rejection when controlling low-order processes. In this paper, the MO criterion is modified in order to optimize disturbance rejec...

This paper presents a simple second-order controller that damps the resonance typical of piezoelectric nanopositioners and delivers good tracking performance. This method employs the Integral Resonant Control scheme (IRC) for damping the dominant resonant mode of the piezoelectric nanopositioner and uses an integral controller to achieve tracking performance. As disturbance rejection is a main ...

In this paper, two multirate repetitive controllers are proposed, namely, repetitive intersample disturbance rejection (RIDR) and repetitive perfect tracking control (RPTC). First, in order to develop RIDR, multirate intersample disturbance rejection algorithm is reviewed which was proposed by authors for general digital control systems with restricted sampling frequency. Second, RPTC method is...

This paper presents a visual servoing of 6 degreeof-freedom (DOF) manipulator based on intersample disturbance rejection with switching scheme. In the controller, multirate intersample disturbance rejection algorithm is utilized, which was proposed by authors for general digital control system with restricted sampling frequency. The proposed feedforward scheme with open-loop estimation and swit...