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This paper addresses the problem of optimal state-feedback design for a class of non-linear systems. The method is applicable to all non-linear systems which can be linearised using the method of state-feedback linearisation. The alternative is to use linear optimisation techniques for the linearised equations, but then there is no guarantee that the original non-linear system behaves optimally. The...
This paper presents a method for designing linear controllers to achieve robust tracking and disturbance rejection properties. Wide range of references and disturbances such as step and sinusoid forms are covered. The proposed control structure comprises a combination of state-feedback and output-feedback strategies. The output-feedback structure is selected based on the internal model principle and...
This paper presents optimal design of controllers of the general type of proportional-integrating-derivative (PID) for achieving optimal tracking of a constant or slow-changing set-point. The design method is developed for the first- and second-order plants (with or without zero) in which only an output signal is used for the feedback. A generalization of the proposed method for higher-order plants...
Here a special state variable feedback or state feedback for short is introduced with the main objective of providing a convenient method for decoupling a MIMO transfer matrix. Decoupling in general and decoupling via state feedback in particular offer obvious advantages in the design and synthesis of controllers for MIMO systems. The early parts of this paper deal with the eigenvalues, poles, and...
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