Tham khảo tài liệu 'crc press mechatronics handbook 2002 by laxxuss episode 3 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Measurement Signals. The signals y e Ry represent measurements or signals that are directly available to the controller K. Measurements may include a portion of or all of the plant state variables measurable plant outputs measurable control signals measurable exogenous signals etc. In practice we typically have more exogenous signals than measurements . nw ny . Generally the more independent measurements we have the better since in theory more useful information can be extracted. Comment Toward a Separation Principle It is natural to associate the controls u with the regulated signals z. One might argue that the pair implicitly defines a regulation or control problem. This is analogous to the situation addressed in classical LQR problems. In such problems one trades off control action size versus speed of regulation. Similarly it is natural to associate the exogenous signals w with the measurements y. One might argue that the pair implicitly defines an information extraction or estimation problem. This is analogous to the situation addressed in classical KBF problems. In such problems one trades off sensor cost or immunity to noise versus speed of estimate construction. Such associations suggest that just as in classical LQG problems our surprisingly general structure may give rise to a natural separation principle. Indeed this will be the case for the so-called H output feedback problem that we consider. General H2 Optimization Problem The so-called general H2 optimization problem may be stated as follows Find a proper real-rational finite dimensional controller K that internally stabilizes G such that the H norm of the closed loop system transfer function matrix Twz K is minimized min Twz K H2 where . df 1 1 í u F H f JỈP J trace FH jà F jà dw Jr trace fH t f t dt ẠH0 f L2 R and f is the impulse response matrix associated with the transfer function matrix F. Comment Use of Two Norm Wide Band Exogenous Signals Noting that the two
