ABSTRACT
Limitations Capacity Limitations. An important message is that there are inherent performance limitations in all control systems, that do not depend on the controller or on how it is calculated. These limitations might be of practical nature, and are then related to bounds on the control signal and its rate of change. This may prevent us from making the system as fast as desired, or obtaining reasonable disturbance rejection. Scaling the variables and making back-of-anenvelope calculations as in Chapter 7 is the natural start of any controller design in practice.
