563 B
563 B
Sensitivity
Whenever we introduce our reference input, we should check the associated Sensitivity Function.
As we can see, a reference put
just after the output og G_p(s)
yealds a more robust system, overall.
Augmented state
Each time we need to make the system
faster, we need an integrator.
In order to being able to place it, we just
need to augment the state. By doing that
we introduce some helping
state variables and the rest is as it is.