RST-CONTROLLER DESIGN: A RATIONAL TEACHING METHOD BASED ON TWO DIOPHANTINE EQUATIONS

The RST-structure for discrete-time controllers provides an elegant design method, both for reference tracking and disturbance rejection, once the discrete model of the process is known and a model transfer function for the closed loop is chosen. Complete cancellation of steady state errors in response to polynomial or sinusoidal reference signals, or a combination of both, without any signal lag at the output, is achieved by the solution of an auxiliary Diophantine equation. The flexibility of this design makes it easily adaptable to various kinds of publics, to match their own requirements without going into all details.