A mechanism for controlling a plant is provided. A reference signal is received at a signal transformation loop of a feedback controller. The signal transformation loop causes the reference signal to include a disturbance signal and a nominal signal. Also, the reference signal is received at a feed-forward controller, and the feed-forward controller recreates the disturbance signal that was caused by the signal transformation loop. The output of the feedback controller is input into a plant. The output of the feed-forward controller is input into the plant such that the disturbance signal is removed from the output of the feedback controller.