Robustness Disturbance

This lecture explores how to ensure zero steady state error in the presence of constant disturbances acting on a system, analyzing the impact of integrators in the open loop transfer function and controller. By calculating transfer functions and studying different scenarios, the instructor demonstrates the conditions under which constant disturbances can be rejected, emphasizing the importance of the integrator placement. Through examples, the lecture illustrates how the number of integrators in the system and controller influences the ability to track reference signals and reject disturbances.