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Lecture
Are you an EPFL student looking for a semester project?
Work with us on data science and visualisation projects, and deploy your project as an app on top of Graph Search.
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.