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The optimal projection equations for fixed-order, sampled-data dynamic compensation with computation delay

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3 Author(s)
Bernstein, D.S. ; Harris Corporation, Melbourne, FL, USA ; Davis, L.D. ; Greeley, S.W.

For an LQG-type sampled-data regulator problem which accounts for computational delay and utilizes an averaging A/D device, the equivalent discrete-time problem is shown to be of increased order due to the inclusion of delayed measurement states. The optimal projection equations for reduced-order, discrete-time compensation are applied to the augmented problem to characterize low-order controllers. The design results are illustrated on a tenth-order flexible beam example.

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Automatic Control, IEEE Transactions on  (Volume:31 ,  Issue: 9 )