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A two control inputs - two controlled outputs plant is described by the state - space model:
state equactions (1)
controlled output (2)
where are the states, controlled outputs, control inputs and disturbance input, respectively.
The plant states and disturbance input are NOT measurable while noise free measurements of the controlled outputs are available. The disturbance input is unknown.
(I). Design an integral controller so that for any piecewise constant reference vector of the controlled output vector in spite of the piecewise constant disturbance input.
(II). Improve the controller designed in part (I) by introducing a mechanism for the disturbance compensation at the plant input. Illustrate advantage of the improved controller by applying the fast varying piecewise constant reference input vector and sinusoidal disturbance.
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