Abstract
The critically important topic of control law design is considered in this chapter. The approach described applies to the nonlinear generalized minimum variance control law but the general strategy is applicable to the other optimal control problems considered later. The definition of the criterion to be minimized and the different methods for choosing the dynamic cost-function weightings are considered. The problems in implementing the optimal controller and the relationship to the well-known Smith-predictor transport-delay compensator are described. Finally, the presence of system uncertainties and various aspects of the sensitivity minimization and the robust control problems are explored.
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