Quantitative feedback design for tracking error tolerance (Q1962015)

The tracking error of a single input, single output feedback system is shown to be related to the sensitivity. A two-degree of freedom approach for robust frequency domain design with tracking error specifications is developed. The feedback controller is designed to achieve specified reduction of uncertainty and a pre-filter is designed to achieve nominal tracking. Unstructured uncertainty in the pre-filter and sensor are also treated. The design approach fits into the framework of Horowitz' Quantitative Feedback Theory (QFT).