Abstract
A specific robust controller design procedure, linear quadratic Gaussian with loop transfer recovery (LQG/LTR), is studied. LQG/LTR design using a reduced-order model is performed. The error due to the use of the reduced model is accounted for by computing multiplicative error. All closed right half plane modes of the given system are included in the reduced-order model. The reduced-order LQG/LTR controller design procedure is applied to the problem of lateral attitude control of a drone aircraft. The case study demonstrates the reduction/design steps for a practical problem. >
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