Asymptotic tracking and disturbance rejection of servo systems

Output tracking and disturbance rejection problem is widely applied in servo control systems. Internal model principle is used to design both servo compensator and stabilization compensator in order to realize asymptotically tracking reference input with zero steady-state error, at the mean time, to reject the disturbance. Considering such different input as steps, ramps and sinusoids, different compensators are designed using state feedback methods. Simulations on an inverted pendulum system show that the compensators can stabilize the system and track the reference input.