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RESEARCH PAPERS

Sensitivity Reduction by State Derivative Feedback

[+] Author and Article Information
A. Haraldsdottir, P. T. Kabamba, A. G. Ulsoy

University of Michigan, Ann Arbor, MI 48109

J. Dyn. Sys., Meas., Control 110(1), 84-93 (Mar 01, 1988) (10 pages) doi:10.1115/1.3152655 History: Received June 01, 1987; Online July 21, 2009

Abstract

This paper shows that the sensitivity of state feedback control systems can be reduced by additional state derivative feedback, for a fixed closed loop eigenstructure. The price of this sensitivity reduction is in general noise response amplification. Two indices which quantify stability robustness and response sensitivity are given for time invariant continuous time and discrete time systems, together with an index of response to disturbances and noise. Closed form expressions for the gradients of these indices are given. A two step design procedure is proposed which consists of first selecting a closed loop eigenstructure, then minimizing one of the sensitivity indices under a magnitude constraint on the noise response. Examples are given to illustrate this original design procedure.

Copyright © 1988 by ASME
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