摘要：AbstractThis paper gives an introduction to the basic controllers with an integral action for regulation and tracking of simple first order models with compensation of acting disturbances. It shows their common features and differences, pros and cons, and the exceptional role of the plant modeling. Simultaneously, their presentation yields a broad spectrum of authentic tasks for developing understanding and skills in the plant modeling and control design, manipulating with block diagrams, state-space to transfer function transformations, Matlab/Simulink programming and problem solving. Experiments based course flipping of the considered stuff is stressed.
关键词：KeywordsPI controldisturbance observerextended state observerIMCADRC
