The previous chapter dealt with the problem of controlling a system with unknown, constant parameters. The material contained in this chapter was published previously as a doctoral thesis, see Feiler 2004 . We consider the case where, in addition, the system is subject to unknown, external and time–varying disturbances. It is seen that under certain conditions, the problem can be translated to the previous one if a controller of extended order is used. The approach is based on the well–known fact from linear control theory that deterministic disturbances containing a finite number of frequencies can be completely rejected by placing appropriate poles in the feed–forward path of the control loop. According to the internal model principle (Francis and Wonham 1976 ), this can be regarded as a procedure of expanding the system by a “disturbance model” which generates an additional input that compensates the effect of the disturbance.
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- Disturbance Rejection
Prof. Dr.-Ing. Dr.-Ing h.c. Schröder
- Springer Berlin Heidelberg