I am simulating the dynamics of a control system that has been designed using the control partitioning technique (model-based control + servo control).
I am having a query for the case when an external disturbance is present in the control system.
So there are a couple of configurations that are possible:
The only thing which is different between the two architectures is the summation block where the disturbance force is introduced in the control system.
The thing which is confusing me is that all the literature and books I have referred to use the 1st architecture but formulate the closed-loop dynamics according to the second one.
In the presence of disturbances both the systems show tangibly different responses for the same controller properties, a few examples given below:
Along with the different responses, the actuator efforts will also be different.
This is making me confused as to which architecture will be a truer representation of the actual response of the designed control system in presence of disturbance forces.
I hope my question makes some sense and will provide further elaboration if asked for!
Thanks in advance.