ON THE DESIGN OF FEEDBACK CONTROLLERS TO ACHIEVE PRESCRIBED INITIAL-VALUE CONSTRAINTS

The problem of designing a stabilizing compensator for a control system to achieve prescribed initial value constraints v(i)(0+) = y(i) is considered. Indeed, modulo certain technical conditions, such a compensator exists if and only if y(i) = 0; i = 0,1,...,r[p] + r[t] - 2; where r[p] is the relative degree of the plant and r[t] is the relative degree of the system input. This theorem is derived and a complete parameterization of the set of compensators that achieve the prescribed design constraints is formulated.