The block diagram X’s 2DoF MSP is shown in Fig.1.The first-order integrating proce with dead-time is described as G(s)G0(s)es，G0(s)ks s
where ksis the velocity gain.In fact, G0(s)represents the low order dynamics, and the esterm considers not only the real dead-time but also the high order dynamics of the real proce.Because the MSP controller decouples the setpoint response from load response,it may achieve fast responses independently without oscillation compared with one-degree of freedom controller..Because the MSP controller decouples the setpoint response from load response,it may achieve fast responses independently without oscillation compared with one-degree of freedom controller.
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