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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.
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