Simple tuning rules for feedforward compensators

This paper describes new simple tuning rules for design of feedforward compensators. The problem of feedforward from load disturbances is analyzed, and it is shown that the feedback controller should be taken into account in the feedforward design process. Simple rules based on IAE minimization with restrictions on the process output overshoot and the high-frequency gain of the compensator are then derived. Several simulations are presented along the paper to show the advantages of the proposed design rules.