A staircase model for unknown multivariable systems and design of regulators (Q794593)

Based on a very simple model, a discrete-time integrating regulator can be designed for a linear time-invariant system. The linear system is not restricted to be scalar with a monotone step response, as required in previously published literature. The number of tuning parameters in the controller depends on the number of steps in the staircase model which can be properly chosen so that the closed-loop system is an asymptotically stable system with a specified tracking speed.