Hi @Mücahit
The block diagram in Fig. 4 represents a variant of the PID control scheme, known as I-PD control, wherein both the proportional and derivative actions are shifted to the feedback path. This adjustment aims to mitigate the proportional kick and derivative kick resulting from sudden changes in the setpoint 
. The architecture is almost similar to the Linear-Quadratic-Integral (LQI) control, as illustrated in the figure below.
. The architecture is almost similar to the Linear-Quadratic-Integral (LQI) control, as illustrated in the figure below.
If the signal Zsr represents the state-dependent output 
, then the block diagram in your Simulink model bears a resemblance to the I-PD scheme depicted in Fig. 4. Whether the designed output-feedback I-PD control scheme can induce adequate changes in the system's behavior to meet the performance specifications is another matter. Ultimately, the control principle aims to influence the values of the system's states 
to drive the system's output 
towards a desired value specified by 
.
, then the block diagram in your Simulink model bears a resemblance to the I-PD scheme depicted in Fig. 4. Whether the designed output-feedback I-PD control scheme can induce adequate changes in the system's behavior to meet the performance specifications is another matter. Ultimately, the control principle aims to influence the values of the system's states to drive the system's output towards a desired value specified by .
