Multivariable Disturbance Rejection Tracking Controllers for Systems With Slow and Fast Modes

Abstract

In this paper we consider the design of controllers for a class of singularly perturbed multi-input-multi-output linear time-invariant systems where the objective is asymptotic tracking in the presence of persisting disturbances. The controller structure consists of a precompensator and a stabilizing compensator used in conjunction with a full order observer. Singular perturbation methods are used to obtain various components of the control system so that numerical ill conditioning is avoided. The design procedure is illustrated by synthesizing a controller for a second order singularly perturbed plant.