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

Abstract

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>