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=== Linear model following ===
In linear model following, a formal feature of the nominal closed loop is attempted to be recovered. In the classical pseudo-inverse method, the closed loop system matrix <math>\bar{\mathbf{A}} \mathbf{A}-\mathbf{B}\mathbf{K}</math> of a state-feedback control structure is used. The new controller <math>\mathbf{K}_f</math> is found to approxmate <math>\bar{\mathbf{A}}</math> in the sense of an induced matrix norm {{Harv|Gao|Antsaklis|1991}}. {{Harv|Staroswiecki|2005}}
In perfect model following, a dynamic compensator is introduced to allow for the exact recovery of the complete loop behaviour under certain conditions.
In eigenstructure assignment, the nominal closed loop eigevalues and eigenvectors (the eigenstructure) is recovered to the nominal case after a fault.
=== Optimisation ===
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