Abstract
An asymptotic linear quadratic Gaussian design synthesis technique is described that explicitly includes a class of structural plant uncertainties by viewing plant parameter variations as an internal feedback loop. A direct structural relationship between this class of parameter uncertainties and the weighting matrices in the design of the LQG compensator is exploited by an asymptotic procedure in which either the regulator or the filter becomes insensitive to parameter variations. This asymptotic approach represents a generalization of the linear-quadratic-Gaussian/loop transfer recovery (LQG/LTR) technique. Controllers designed by this new LQG method and LQG/LTR are compared by application to a mass-spring-damper system, which approximates the dynamics of flexible structures. For both colocated and noncolocated sensor and actuator configurations, the LQG/LTR design is extremely sensitive to parameter variations, whereas the new LQG design allows considerably improved parameter robustness.
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