Feedback controller

A feedback control system comprising:

• a controlled object having a relative degree g;
• and
• a controller, including:
• a first input for receiving a reference signal;
• a second input for receiving a feedback signal from the controlled object;
• an output, connected to an input of the controlled object, for outputting a control signal;
• control means, connected to the first input, the second input, and the output, having a predetermined gain, for receiving the reference signal from the first input and the feedback signal from the second input, and for generating the control signal in accordance with said gain to equalize the feedback signal with the reference signal;
• wherein, the controlled object comprises:
• means for generating a response waveform, f(t) having a plurality of degrees, of the feedback signal of the controlled object when a disturbance is imparted on the controlled object, a relative degree of the disturbance being d;
• means for generating a response waveform, p(t), of the feedback signal of the controlled object when the controlled object and the controller are in an open loop state such that the feedback signal from the controlled object is not received by the controller;
• wherein said means for generating the response waveform f(t) generates said response waveform f(t) such that a differential of said response waveform f(t) for each of said plurality of degrees up to at least a degree (2g+d-2) is equal to a differential corresponding to the response waveform p(t) at time t=0;
• and
• wherein said means for generating the response waveform f(t) generates said response waveform f(t), such that a differential of said each of said degrees of said response waveform up to at least a degree (2g+d-2) is zero at a finite time t=Tc and such that a differential of each of said degrees of said response waveform f(t) is zero after said finite time, t>Tc.