PARALLEL COMPENSATOR FOR CONTROL OF MULTIVARIABLE SYSTEMS WITH DIFFICULT PLANTS

Parallel compensator applied for control of SISO and MIMO plants is proposed. It is based on the replacement plant (RP) which connected in parallel to the plant changes the property of the latter. There is some freedom in choosing the transfer function (TF) of the RP. It is shown that the numerator polynomial of the RPTF determines the characteristic equation of the closed loop (CL) system. Creating this polynomial from some admissible fast modes assures fast transients of the CL system. For MIMO plants the elements of the diagonal RPTF are designed separately, which simplifies the process of design.