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Disturbance Attenuation in Model Following Designs: a Parametric Approach

This paper proposes a simple approach for disturbance attenuation in the designs of model following control. The basic idea is to minimize the H2 norm of the transfer function from disturbance to tracking error using the design freedom provided by a parametric approach for model following design. Besides the design parameters, the close-loop poles are also optimized within desired regions on the left-half complex plane. An illustrative example is presented to demonstrate the utility of the proposed approach.