The Design of a Compensator with Lower Order in the Model-following System

As a feedback controlled system design technique, the model-following method was proposed in [1]. In the system designed by the application of this method, the differences between the outputs of a model and a controlled object are fed back via a compensator to the controlled object. In this case the output following accuracy is decided by the pole placement in the closed loop composed of the controlled object and the compensator. In [1], the compensator was designed from relocating all the poles arbitrarily. It is, however, apparent that when the real parts of all the poles are in an appointed domain, the model-following system is satisfied with the output following accuracy. In this paper, the design problem of the compensator with lower order is discussed from this point of view