MATLAB function to design a RST controller via the pole placement method.
RST controllers are two degrees of freedom controllers allowing them to have different performances for tracking and regulation.
The controller has the following structure:
The RST controller can be designed using the designRST.m function contained in the repository. The function uses the pole placement method to place the pole of the closed-loop system to those specified. Please refer to the help in the file to do so.
Once a RST controller has been designed, the control signal can be computed as follows:
u(t) = T*r(t) - R.* [y(t) ... y(t-nr)] + S.*[0 u(t-1) ... u(t-ns)]
Thus, some past command, reference and output values must be kept to compute the command signal at each sampling time.
- Thomas Havy
- Loïc Niederhauser
This project is licensed under the MIT License - see the LICENSE.md file for details