Summary: Disturbances

Combine the function blocks of your system so that the following block diagram results. The following formulas are then used in the context of disturbances and disturbance rejection:

Control loop with H_Links before and H_Rechts after the disturbance d — Links = left · Rechts = right

\[ \begin{gathered} y = \frac{H_{\mathrm{Rechts}} \cdot d}{1 + H_{\mathrm{Rechts}} \cdot H_{\mathrm{Links}}} \approx \frac{d}{H_{\mathrm{Links}}} \\[6pt] H_{\mathrm{SU}} = \frac{y}{d} \approx \frac{1}{H_{\mathrm{Links}}} \end{gathered} \]

(Links: blocks to the left of the disturbance, Rechts: blocks to the right of it, SU: disturbance rejection.)