11.2
Regulation
11.2.1
Asymptotic Rejection of Constant Disturbances
We rst consider the e ect on p of a constant disturbance applied to proc. Fig-
y
n
ure 11.6 shows the subset of slice where such a disturbance asymptotically has no
H
e ect on p, , where the a ne function
y
i.e.
(a)
(b)
(c)
11 (0) +
11 (0) + (1
) 11 (0)
(11.4)
H
H
;
;
H
vanishes.
2
1:5
(0) 0
H
<
11
1
;
;
(0) = 0
H
11
0:5
(0) 0
H
>
11
0
;0:5
;1
;1
;0:5
0
0:5
1
1:5
2
Asymptotic rejection of constant actuator-referred distur-
Figure
11.6
bances on .
y
p
11.2.2
Rejection of a Particular Disturbance
Suppose now that an actuator-referred disturbance is the waveform part( ) shown
d
t
in gure 11.7. Figure 11.8 shows the level curves of the peak output p due to the
y
actuator-referred disturbance part, ,
d
i.e.
(a)
(b)
(c)
11 +
11 + (1
) 11 part
(11.5)
H
H
;
;
H
d
1
which is a convex function on 2.
R
11.2 REGULATION
255
0:5
0:4
0:3
0:2
() 0:1
t