Design a Zero Phase Error Tracking (ZPET) controller for the…

Design a Zero Phase Error Tracking (ZPET) controller for the control system in Question 13 to generate the reference input r(k) needed for y(k) to track a given desired output sequence yd(k) assuming b=1/12. Ans. r(k)=[c1]yd(k+3)+[c2]yd(k+2)+[c3]yd(k+1)+[c4]yd(k).