Advanced Topics in Control

The following ideas are taken from [6]. Consider the closed-loop control system shown in Fig. 7.1. The open-loop transfer function G(s) is given as the cascade connection of controller C(s) and plant \(G_o(s)\) , i.e., \(G(s)=C(s)G_o(s)\) . The system error is defined as \(e(t)=r(t)-y(t)\) . Capital letters stand for Laplace transforms of the corresponding time functions, i.e., \(E(s)=\mathcal {L}\{e(t)\}\) , \(R(s)=\mathcal {L}\{r(t)\}\) , \(Y(s)=\mathcal {L}\{y(t)\}\) , etc.