Pérez Castelo, Francisco JavierFerreiro García, Ramón2005-12-212005-12-2120015th International Symposium on Quantitative Feedback Theory and Robust Frequency Domain Methods, proceedings, Public University of Navarre, Pamplona (Spain), 23-24 August 2001, edited by Mario García-Sanz, p. 255-26084-95075-56-3http://hdl.handle.net/2183/545This work deals with some practical aspects of PID controllers regarding multivariable non-linear feedforward compensation. This contribution concerns the task of compensation for multivariable disturbances on the controlled variable. The strategy consists of establishing an adaptive function capable of compensatinge by means of a feedforward strategy all disturbance variables under any dynamic conditionapplication/pdfengQFT theoryFrequency domain designFrequency domain identificationMultivariable disturbancesMultivariable feedforward compensationconference outputopen access