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A new feedback controller architecture is proposed based on Dual Youla Parameterization. The main feature of the controller architecture is that command tracking performance and external disturbance rejection may be done separately. First, a nominal controller can be considered for external disturbance rejection. Secondly, according to the left coprime factorization of the nominal controller, a dual...
The focus of this paper is on design of control strategies subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by formulating a minimax optimization problem in a linear programming framework permitting the generation of near-globally optimal controllers. To illustrate the proposed technique, a deflection limited/residual energy...
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