A feedforward-compensator-design technique is presented for industrial control systems. The proposed feedforward compensator can improve dynamic characteristics of multidimensional systems by modifying the input signals. The multidimensional feedforward-compensator design is based on the pole assignment regulator, the minimal-order observer, and the conversion from a closed-loop system to an open-loop system. The effectiveness of the proposed feedforward compensator is demonstrated by a simulation study of temperature control of a thermal power plant and by experiments of the contour control of an articulated robot arm.
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Goto et al. (2006) studied this question.
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