Abstract
In this paper, a design method of optimal feedforward compensator provided for disturbance input is proposed. Firstly, disturbance input is assumed to be uncorrelated stochastic process. The design is based on system impulse responses and consists of minimizing the mean square weighted values of outputs and control inputs. The optimal compensator, which is FIR (Finite Impulse Response) filter, is obtained by solving a normal equation. The normal eqution can be solved by fast recursive order up date algorithm, so called LWR algorithm. The method is extended to the case of colored noise disturbance and step disturbance. Simulation results show the effectiveness of the proposed method.
