This is a tutorial paper that discusses the synthesis of optimum constant-gain feedback controllers for stationary linear systems. These controllers minimize the mean value of a weighted sum of squared output error and squared input in the presence of stationary random gaussian disturbances. Symmetric root locus is shown to be a useful graphical technique for visualizing closed loop pole locations as functions of the performance index weighting parameters and the disturbance spectral densities. The main component of the optimal controller is a minimum variance observer that estimates the system state variables using a measurement of the output and a set of observer gains. These estimated states are fed back to the input with a set of optimal regulator gains. This optimal controller is interpreted here as a classical compensator. A fourth order example is used throughout the paper to help clarify the concepts.
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June 1979
Research Papers
Some Connections Between Modern and Classical Control Concepts
A. E. Bryson, Jr.
A. E. Bryson, Jr.
Stanford University, Stanford, Calif. 94305
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A. E. Bryson, Jr.
Stanford University, Stanford, Calif. 94305
J. Dyn. Sys., Meas., Control. Jun 1979, 101(2): 91-98 (8 pages)
Published Online: June 1, 1979
Article history
Received:
March 20, 1979
Online:
July 13, 2010
Citation
Bryson, A. E., Jr. (June 1, 1979). "Some Connections Between Modern and Classical Control Concepts." ASME. J. Dyn. Sys., Meas., Control. June 1979; 101(2): 91–98. https://doi.org/10.1115/1.3426420
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