LAUSR

This paper presents new simple tuning rules for the gain in feedforward compensators. When the ideal feedforward controller is not possible to implement, a negative effect is introduced in the closed-loop response. So, the closed-loop transfer function from the disturbance to the error is analyzed and tuning rules for the feedforward gain are proposed. Two feedforward structures are used, a lead-lag compensator and a static controller. First, the feedforward gain is tuned to reduce the overshoot in the response for both compensator structures. Afterwards, a second tuning rule for the feedforward gain is derived to minimize the integrated absolute error. Finally, the different tuning rules are evaluated through simulations and compared with other existing solutions in the literature. (Less)