VRFT1_ry: Design a 1 degree of freedom (1 d.o.f.) linear controller so as to match the r(t) to y(t) closed-loop transfer function with the model reference Mr (see Figure 1).

Figure 1: 1 degree of freedom control scheme.

 

VRFT1_dy: Design a 1 d.o.f. linear controller so as to match the d(t) to y(t) output sensitivity with the model reference Md (see Figure 1).

VRFT1_ry_ru: Design a 1 d.o.f. linear controller so as to match the r(t) to y(t) closed-loop transfer function with the model reference Mr and the r(t) to u(t) input sensitivity with the model reference Mu (see Figure 1).

VRFT1_dy_du: Design a 1 d.o.f. linear controller so as to match the d(t) to y(t) closed-loop transfer function with the model reference Md and the d(t) to u(t) input sensitivity with the model reference Mu (see Figure 1).

VRFT2_ry_dy: Design a 2 d.o.f. linear controller so as to match the r(t) to y(t) transfer function and the d(t) to y(t) transfer function (see Figure 2).

Figure 2: 2 degree of freedom control scheme.

VRFT_GUI: starts the Graphical User Interface for the VRFT toolbox.