Conference Contribution

Design of Optimal Low-Order Feedforward Controllers

Martin Hast, Tore Hägglund


Design rules for optimal feedforward controllers with lead-lag structure in the presence of measurable disturbances are presented. The design rules are based on stable first-order models with time delays, FOTD, and are optimal in the sense of minimizing the integrated-squared error. The rules are derived for an open-loop setting, considering a step disturbance. This paper also discusses a general feedforward structure, which enables decoupling in the design of feedback and feedforward controllers, and justifies the open-loop setting.


Feedforward design Optimal control Load-disturbance rejection

In IFAC Conference on Advances in PID Control, Brescia, Italy, March 2012.

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