Small controller for an ideal transient control performance

The authors have configured a control signal to achieve an ideal control performance taking advantage of ZIR (zero input response) and ZSR (zero state response). First, they define both an ideal transient dynamics and control performance on frequency domain. Then, they construct a simulator based on a physical model of a nonlinear plant, and identify not only parameters but also initial states of state variables. Since the dynamics of the nonlinear plant output can be foreseen with information of the internal states of the nonlinear simulator, an ideal control performance is achieved taking advantage of ZIR and ZSR