A simple method for designing a state-derivative feedback gain and a feedforward gain such
that the control law is equivalent to a known and adequate state feedback and reference
feedforward control law is presented. It is assumed that the plant is a linear controllable, time-
invariant, Single-Input (SI) or Multiple-Input (MI) system. This procedure allows the use of
well-known state feedback design methods to directly design state-derivative feedback
control systems. The state-derivative feedback can be useful in the control of mechanical …