Optimal feedforward compensators for systems with right-half plane zeros

Carlos Rodríguez, José Luis Guzmán, Manuel Berenguel, Tore Hägglund

Research output: Contribution to journalArticlepeer-review

13 Citations (SciVal)


Feedforward from measurable disturbances is a powerful complement to feedback control to improve disturbance rejection capability. Recent works have remarked the necessity of a design strategy for those cases where the ideal feedforward controller is not realizable. In this paper, a simple shaping design procedure is presented together with straightforward rules to obtain optimal feedforward controllers for the case when the ideal compensator is not realizable due to right-half plane zeros in the process dynamics. Finally, some simulations and a robustness analysis demonstrate the benefits of the proposed tuning rules.
Original languageEnglish
Pages (from-to)368-374
JournalJournal of Process Control
Issue number4
Publication statusPublished - 2014

Bibliographical note


Subject classification (UKÄ)

  • Control Engineering


  • Process control
  • Non-minimum phase dynamicsa
  • Disturbance rejection
  • Feedforward compensator


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