Complex Control Strategies 19.1 The 2DOF Structure for Stable Plants 29.2 2DOF Structure for Unstable Plants 3 9.3 Cascade Control 49.4 Anti-Windup Structure 59.5 Feedforward Control 69.6 Optimal Input Disturbance Rejection 79.7 Control of Plants with Multiple Time Delays 4口，+@4定4生，定分0C0 Zhang.W.D..CRC Press.2011 Version 1.0 2/95Complex Control Strategies 1 9.1 The 2DOF Structure for Stable Plants 2 9.2 2DOF Structure for Unstable Plants 3 9.3 Cascade Control 4 9.4 Anti-Windup Structure 5 9.5 Feedforward Control 6 9.6 Optimal Input Disturbance Rejection 7 9.7 Control of Plants with Multiple Time Delays Zhang, W.D., CRC Press, 2011 Version 1.0 2/95