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In this system, the setpoint x s p is tracked using a feedback loop, but the system compensates for disturbances x 1 using a feedforward
In this system, the setpoint is tracked using a feedback loop, but the system compensates for disturbances using a feedforward loop. To accomplish this, the output from the feedback controller is added to the output from the feedforward controller
Please derive an equation relating the system output, to the setpoint and the disturbance. Your result should have the form
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