On the design of feedback controllers to achieve prescribed initial value constraints

The problem of designing a stabilizing compensator for a control system to achieve prescribed initial value constraints⁽ⁱ⁾(0⁺)=y_i is considered. Indeed, modulo certain technical conditions, such a compensator exists if and only if y_i=0;i= 0,1,...,rp +rt –2; whererp is the relative degree of the plant andrt is the relative degree of the system input. This theorem is derived and a complete parameterization of the set of compensators that achieve the prescribed design constraints is formulated.This research was supported in part by NSF Grant No. 921106.