Abstract
This paper presents an explicit parameterization of all deadbeat tracking controllers for multi-input multi-output (MIMO) control systems in one-degree of freedom compensation scheme. The advantages over the previous results are as follows: Firstly, both all deadbeat tracking controllers and all achievable deadbeat responses are characterized by completely free parameters in an explicit form. Moreover, the relationship between the number of the settling step and the free parameters is made clear. Secondly, the class of the reference inputs for which deadbeat tracking is achieved is generalized. Thirdly, the design method is obtained not only for the case that the plant matrix is square but also for the non-square case. Fourthly, the design algorithm consists of simple polynomial matrix equations and the reduction to Hermite form over polynomials, while the previous algorithms in one-degree of freedom compensation scheme involve some troublesome calculations, e.g., the reduction to Smith-McMillan form of rational functions.
