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Integral action is required in many controllers in order to solve real world problems. Modeling errors and disturbances are examples of issues that can be dealt with by using controllers with integral action. This paper explores the use of disturbance observers to introduce integral action into an output feedback controller. In particular, the proposed solution is generalized to include the case of...
Separation principle implies that the state feedback control Kx(t) is designed assuming the system state x(t) is available. This principle has the following eight drawbacks. 1) The design of Kx(t)-control ignores the fact that a major effort, such as a separately designed observer, is needed to realize this control. 2) This design ignores the parameters of the realizing observer and the parameter...
In this paper, we consider a multiple objective control problem. If the exogenous input matrices in a state-space model of the plant under control satisfy a generic rank condition, we show that all the individual state-feedback controllers which achieve desirable performance and robustness levels (as measured by suitable closed loop transfer matrices) can be combined to generate a single state-feedback...
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