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A feedforward-PD optimal disturbance rejection controller is designed for MIMO systems with external sinusoidal disturbances. By analyzing the internal relations between the optimal disturbance rejection algorithms of MIMO systems which based on time-domain state-space representation and the PD-control algorithms which based on frequency-domain output feedback,a PD compensation net is obtained with optimal tuning-parameters to achieve the purpose of optimal disturbance rejection. Simulation examples are employed to test the validity of the feedforward-PD optimal disturbance rejection controller

Optimal Disturbance Rejection via Feedforward-PD for MIMO Systems with External Sinusoidal Disturbances