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Design of optimal output feedback compensators in two-time scale systems

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3 Author(s)
Calise, A.J. ; Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Prasad, J.V.R. ; Siciliano, B.

A formulation is presented for designing optimal output feedback compensators of fixed order for two-time scale-systems. The formulation uses an observer canonical form to represent the compensators dynamics. It precludes the use of direct feedback of the plant output and achieves spillover suppression. A case study involving the rapid pointing of a flexible robot arm is presented. The results demonstrate the performance and robustness of the controller design

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Automatic Control, IEEE Transactions on  (Volume:35 ,  Issue: 4 )