This paper describes an optimal ripple-free dead-
beat controller for SISO linear sampled-data plant models.
A step reference is assumed and the deadbeat horizon is
considered to be one of the designer’s choices. The cost function
to be minimized is a cumulative index that penalizes the time-
weighted squared tracking error (i.e., it corresponds to an ITSE
cost term). The corresponding optimization problem turns out
to be convex, leading to closed form solutions. Examples are
included to illustrate the main results.
Keywords: Ripple-free deadbeat control, ITSE index, Opti-