Abstract
A new procedure for the design of a constant gain feedback control law which reduces trajectory sensitivity to parameter variations of linear regulators is presented through a hamiltonian approach. The approach is based on minimizing a performance index which includes the conventional quadratic cost and a trajectory-sensitivity measure, the minimization being carried out with respect to the constant-feedback matrix. This procedure does not increase the order of the optimization problem and does not require the generation and feedback of a trajectory-sensitivity vector and, in addition, is also applicable to cases where only the outputs are available for feedback.
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