In an elegant and yet easily comprehensible and applicable way, it is shown how the outputs of n identical plants
with different output initial conditions can be made to perfectly track a reference, or command, input r(t) through the commissioning of only one central controller H(s). Two simulations support the theoretical results. The proposed technique has wide applications in industrial plants and research centers: it drastically reduces the effort and cost of controllers dictated by the orthodox one-plant/one-controller philosophy.
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