2. Underlying control systems

The underlying control systems can be generally represented as shown in figure 2 with :

• {u (t )} and {y (t )} respectively designate the input and output of the system to be controlled, in this case the digital-to-analog converter, actuator, process itself, sensor, anti-overlap filter and analog-to-digital converter;

• {v (t )} represents all disturbances affecting the operation of the system to be controlled, in particular load disturbances and measurement noise at the input and output of the system to be controlled;

• {y *(t )} designates the reference sequence that can be generated from the setpoint sequence {u*(t )} as follows: $A^{\ast }\left(q^{-1}\right)y^{\ast }\left(t+d+1\right)=B^{\ast }\left(q^{-1}\right)u^{\ast }\left(t\right)$

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