Control system design via EMM in realistic environment

Control system design via exact model matching (EMM) in realistic environment is considered. A disturbance predictor, which was developed by the author, is applied to the case when measurement error exists at the output terminal besides disturbance and plant perturbation. In the first, the effects of disturbance, measurement error and plant perturbation on the plant output are analyzed. Then, a method of removing these effects by means of a disturbance predictor is presented. The effects of disturbance as well as plant perturbation are well removed, but the effect of measurement error cannot be removed