Abstract
A polynomial matrix solution is obtained to the optimal LQG output regulator problem for a system with both input and output disturbances, dynamic feedback element and a cost-function with dynamic weighting terms. The cost-function can include both the usual LQG output and control terms and sensitivity/complementary sensitivity terms. The solution of this regulating problem is also shown to provide a two-degrees of freedom controller when a reference input is used for a tracking problem. Similarly a feedforward controller can also be derived from the results when a disturbance is measurable. Since in practice disturbances cannot usually be measured accurately provision is made for corrupting the measured spectrum and allowance is made for a measurement noise on this signal. The results are obtained for a general multivariable plant.
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