Offset-free tracking: Necessary conditions and Feedforward compensation

This lecture covers the concept of offset-free tracking in multivariable control, focusing on necessary conditions and feedforward compensation to reject disturbances and achieve constant setpoints. The instructor explains the problem setup, steady-state analysis, and the importance of meeting necessary steady-state conditions for offset-free tracking. Different design approaches, such as feedforward compensation and disturbance estimation, are discussed. The lecture also delves into the steady-state condition for offset-free tracking and the unique equilibrium given by the system. Various methods and architectures for designing LTI controllers to ensure offset-free tracking are presented, emphasizing the importance of system properties and stability during transients.