Pole-zero placement controllers and self-tuning regulators with better set-point tracking

A new procedure for designing controllers and explicit self-tuning regulators is presented. This method allows the placement of closed-loop poles of a given system arbitrarily like other existing methods. The additional attractive feature of the new procedure is the elimination of tracking error for a given set of input (reference) signals. This is done by placing the zeros of the `error transfer function¿¿ at the modes of reference signals. This is very useful in some practical applications like radar tracking and robotics. Some results of simulations are included which illustrate these aspects of the proposed method.