Optimal impulse response tracking and disturbance rejecting controllers

Anna Soffia Hauksdóttir*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


The tuning of PID controllers can essentially be posed as the problem of selecting open-Ioop zeros such as to obtain a desired system response. In this paper, the general case wherein stable open-Ioop system zeros can be cancelled is considered, allowing more freedom in placing open-Ioop zeros, as opposed to just two zeros in the case of a PID controller. Subsequently, optimal open-loop zeros are computed such as to minimize the deviation from a desired reference impulse response, while maintaining the relative degree and the type of the reference system, thus giving the controlled system desired input tracking and disturbance rejection properties. Further, due to the inverse compensation of the plant zeros, the controller is in general causal when the relative degree of the plant and the reference system are similar.

Original languageEnglish
Pages (from-to)2075-2080
Number of pages6
JournalProceedings of the American Control Conference
Publication statusPublished - 2004
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: 30 Jun 20042 Jul 2004


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