Prefilter M

Saturation u_min ≤ u ≤ u_max

ZOH (Ts)

Plant (control path) G_p(z)

Disturbance path G_d(z)

Observer (Luenberger) \(x̂_{k+1} = A x̂_k + B u_k + L e_k\) \(ŷ_k = C x̂_k\)

State feedback u = -K x̂

+

r(k)

u(k)

y(k)

ŷ(k) = C x̂(k)

Orthogonal routing to avoid overlaps: • Controller: u(k) = M(r(k) - F x̂(k)) with saturation • ZOH models DAC hold • Observer uses innovation e(k) = y(k) - ŷ(k) • Disturbance via G_d(z) y(k)

+