The design of optimal output regulators for linear multivariable systems with constant disturbances

A method recently developed for solving the output regulator problem is extended to linear systems with constant disturbances. The design of static and low-order dynamic regulators for linear systems based on the use of projective controls is reviewed first. The proposed method determines through a unified procedure the order and the parameters of the compensator, together with the feedback parameters. This methodology is then applied to systems with external disturbances, and various control structures incorporating integral action are investigated in the light of the proposed methodology.