1. A method for controlling a plant, comprising: receiving a reference signal at a feedback controller comprising signal transformation blocks for signal transformation; wherein the signal transformation blocks translate signals between a first frequency domain and a second frequency domain; and wherein the signal transformation blocks cause an output of the feedback controller to comprise a disturbance signal in addition to a nominal signal; receiving the reference signal at a feed-forward controller; recreating by the feed-forward controller the disturbance signal that was caused by the signal transformation blocks; creating an input to the plant by: adding the output of the feedback controller; and subtracting the output of the feed-forward controller such that the disturbance signal is removed from the input to the plant; and adding the output of the feed-forward controller to the output of the plant.