Disturbance Attenuation in Model Following Designs: a Parametric Approach

This paper proposes a simple approach for disturbance attenuation in the designs of model following control. The basic idea is to minimize the H₂ norm of the transfer function from disturbance to tracking error using the design freedom provided by a parametric approach for model following design. Besides the design parameters, the close-loop poles are also optimized within desired regions on the left-half complex plane. An illustrative example is presented to demonstrate the utility of the proposed approach.