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Chapter 4
Frequency-Weighted Error Reduction
© National Instruments Corporation
4-17
to, for example,
through, for example, balanced truncation, and then defining:
For the second rationale, consider Figure 4-5.
Figure 4-5. Internal Structure of Controller
Recognize that the controller C(s) (shown within the hazy rectangle in
Figure 4-5) can be constructed by implementing
Figure 4-5) can be constructed by implementing
and
and then applying an interconnection rule (connect the output of the second
transfer function matrix back to the input at point X in Figure 4-5).
transfer function matrix back to the input at point X in Figure 4-5).
E
r
s
( )
K
R
C
sI Aˆ
–
(
)K
E
=
C s
( )
K
R
sI Aˆ
–
(
)
1
–
K
E
I C
+
sI Aˆ
–
(
)
1
–
K
E
[
]
1
–
=
K
R
sI Aˆ
–
K
E
C
+
(
)
1
–
K
E
=
K
E
P s
( )
+
-
1
s
---
K
R
+
+
C
A
BK
R
–
X
+
-
K
R
sI A BK
R
+
–
(
)
1
–
K
E
C sI A BK
R
+
–
(
)
1
–
K
E