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The contribution of this paper is to formulate a design problem for Proportional Integral (PI) observer which facilitate their use in recovery design. It is shown that the PI-observes make it possible to obtain time recovery, i.e. exact recovery for t ?? ??. An Loop Transfer Recovery (LTR) design metiod based on LQG design is derived which make it possible to obtain both time recovery and frequency-domain...
A formulation of the Loop Transfer Recovery (LTR) design problem using an ξ∞ (sub-) optimality criterion is presented in this paper and state space formulae are given as its solution. The LTR problem is formulated as an ξ∞ norm constraint for a recovery error which can be defined in two ways: either as a recovery error of the sensitivity function or as a recovery error of the input-output transfer...
This paper gives a general and concise formulation of the Loop Transfer Recovery (LTR) design problem. Necessary and sufficient conditions are given for obtaining LTR for non-strictly proper systems when general observer-based controllers or general output feedback controllers are applied. The connection between these two controller types is also described in the light of LTR.
The pole/zero cancellation in LTR-based feedback design will be analyzed for both full-order as well as minimal-order observers. The asymptotic behaviour of the sensitivity function from the LTR-procedure are given in explicit expressions in the case when a zero is not cancelled by an equivalent pole. It will be shown that the non-minimum phase case is included as a special case. The results are not...
A number of fundamental trade-offs in LTR-based feedback design are investigated. First the trade-off between the recovery level and the controller gain is quantified based on a fundamental recovery matrix and the frequency-domain properties of LTR-controllers. The trade-off is illustrated graphically via socalled recovery diagrams. A major consequence of this trade-off is that the target and recovery...
For discrete-time compensators incorporating prediction observers asymptotic loop transfer recovery is not feasible. Instead loop transfer recovery objectives must be satisfied via exact recovery techniques. In this note the model-based compensators which achieves exact recovery are parametrized in terms of the system zeros and the corresponding zero-directions. Full-order as well as minimal-order...
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