Abstract
A general theory is presented for the compensation of completely controllable, completely observable linear constant systems as in eqns (1) and (2) of this paper. A Kalman observer is used to generate the state variables from the inputs and outputs of the system. State variable feedback is used as the design approach, but the Kalman observer states are used instead of the system states, which are assumed to be internal to the system, and not available for feedback to the system inputs. The system outputs are found to depend on three different transfer functions; the poles of each may be shifted at will by the designer, while the zeros may be invariant. The steady-state input-output transfer function for the closed-loop compensated system has n poles which are chosen by the designer to be anywhere in the complex plane in complex-conjugate pairs or real locations, whilst the single input-output system zeros are invariant. There are two transient responses, one due to the plant initial conditions, and the ot...
Published Version
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