Simulation Simulation P, G(s ao-2 polynomial Ads)=s+aowit h Controller struct ure u(t) y(t)+ to(p+ao (12) So 14 (15)Simulation 0 20 40 60 80 100 −1 0 1 0 20 40 60 80 100 −4 −2 0 2 Time Time uc y u 0 100 200 300 400 500 −2 −1 0 0 100 200 300 400 500 0.0 0.1 0.2 Time Time ^a2 ^a1 ^ b1 ^ b0 Simulation Process G(s) = b s(s + a) Desired response Gm(s) = !2 s2 + 2!s + !2 Observer polynomial Ao(s) = s + ao with ao = 2. Controller structure u(t) = ￾ s0p + s1 p + r1 y(t) + t0(p + ao) p + r1 uc(t) where r1 = 2! + ao ￾ a (12) s0 = ao2! + !2 ￾ ar1 b (13) s1 = !2ao b (14) t0 = !2 b (15) c K. J. Åström and B. Wittenmark 6