Simple tuning rules for feedforward compensators

In English This paper describes new simple tuning rules for design of feedforward compensators. The problem of
feedforward from load disturbances is analyzed, and it is shown that the feedback controller should
be taken into account in the feedforward design process. Simple rules based on IAE minimization with
restrictions on the process output overshoot and the high-frequency gain of the compensator are then
derived. Several simulations are presented along the paper to show the advantages of the proposed design
rules.