Prefilter Design
Finally, the QFT design may be completed with a pre-filter design when it is required. In the case of tracking conditions a shaping on the Bode diagram may be used. Post design analysis is then performed to ensure the system response is satisfactory according with the problem requirements.
The QFT design methodology was originally developed for Single-Input Single-Output (SISO) and Linear Time Invariant Systems (LTI), with the design process being as described above. However, it has since been extended to weakly nonlinear systems, time varying systems, distributed parameter systems, multi-input multi-output (MIMO) systems (Horowitz, 1991), discrete systems (these using the Z-Transform as transfer function), and non minimum phase systems. The development of CAD tools has been an important, more recent development, which simplifies and automates much of the design procedure (Borghesani et al., 1994).
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