Consider
again the two-mass/spring/damper system shown in Figure 0.1. Assume that
F1 is the
control force, F2 is the disturbance force, and the
measurements of x1 and x2 are corrupted by measurement noise:
Our
objective is to design a control law so that the effect of the disturbance force F2 on the
positions of the two masses x1 and x2, are reduced in a
frequency range 0ŁwŁ2.