A new design method for state feedback controllers which minimizes the effects of arbitrary disturbances on selected outputs is presented. The design procedure permits arbitrary assignment of closed-loop eigenvalues and is based on the minimization of a quadratic performance index which includes a term for disturbance transmittances. Two numerical examples and an experimental application to a pilot scale, double effect evaporator are included to show that the resulting control systems are practical and robust. This design method can also be used to design robust observers for systems with unknown and unmeasured disturbances.

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