Synthesis of ILQ control system for disturbance attenuation

A new servo design method for disturbance attenuation is presented. The design method presented is based on inverse linear quadratic (ILQ) servo mechanism. To synthesize this method, the basic ILQ servo system is expanded by adding feedforward controller from exogenous disturbance. By suitable design of disturbance feedforward controller, disturbance rejection and desired output tracking are shown to be achieved asymptotically as the ILQ tuning parameters go to infinity. A numerical design example is also shown to verify the usefulness of this servo design method.