Kybernetika

In a unique and most easily comprehensible and applicable way, it will be shown how the outputs of $n$ identical integral-plus-time constant plants: $G(s) = {K\over s(s+\lambda)}$, with different output initial conditions, can be brought to track a reference, or command, input $r(t)$ through commissioning of only one controller $H(s)$. A three-part example, used in computer simulation, shall, most vividly, support the theoretical results.