Stochastic tracking with measurable disturbance feedforward

Abstract

The open-loop model for the single-input single-output plant under consideration is described in Section 2.1. The plant output which is to be controlled is affected by two disturbance signals, one of which is assumed measurable. Associated with the measurable disturbance is a white measurement noise. Associated with the measurement of the controlled output is a measurement noise, or output disturbance, which may be coloured. For tracking purposes a reference, or command, signal is introduced. This signal is again corrupted by a measurement noise.