Abstract
This paper considers the implementation of optimal control using two degrees of freedom, i.e., a combination of the open- and closed-loop configurations. It has been shown that with this arrangement, one can minimize the integral state sensitivity, while at the same time, either the performance sensitivity, or the terminal-state sensitivity may be reduced to zero. In practice, some compromise must be accepted between the reductions in the various sensitivities. An example of a linear system with an integral quadratic cost function is used to illustrate the procedure.
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