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A digital state vector feedback controller with integral and preview actions, which can be called a proportional plus integral plus derivative plus preview (PIDP) controller, is derived based on linear quadratic optimal control theory. The preview action is a generalization of the feedforward concept which has been exercised in many process control situations. Preview of future system disturbance inputs is shown to be effective to improve the performance of the control system.
Tomizuka et al. (Fri,) studied this question.