Abstract
Expressions are derived for the sensitivity and the roundoff noise gain of the closed-loop transfer function of a system when the state estimate feedback controller is implemented with a finite word length and when the computations are performed in finite precision. This allows one to compare the sensitivity and noise gain over all equivalent state-variable implementations of the observer plus controller. The set of state-space models minimizing either the sensitivity or the roundoff noise gain is computed. Simulations compare the performance of the optimal implementations with respect to companion forms and a particular delta model.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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