Partial control
Most control configurations are structured in a hierarchical manner with fast inner loops,
and slower outer loops that adjust the setpoints for the inner loops. Control system design
generally starts by designing the inner (fast) loops, and then outer loops are closed in a
sequential manner. Thus, the design of an “outer loop” is done on a partially controlled
system. We here provide some simple but yet very useful relationships for partially controlled
systems. We divide the outputs into two classes: