摘要：AbstractThe paper deals with a comparison of several modifications of disturbance observer based controllers developed for integrator plus dead time plant models with solutions proposed for general first order time delayed systems and with traditional PID control. Possibility to extend a disturbance feedforward by a disturbance reference model is demonstrated in a continuous- and discrete-time domains. It is shown that the solutions derived in the discrete-time domain are numerically more robust than the seemingly simpler solutions proposed in a continuous-time domain. The results obtained are discussed in a wider educational context.
