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BUILT-IN MATHEMATICA SYMBOL

EstimatorRegulator

constructs the feedback regulator for the StateSpaceModel object ss with estimator and feedback gain matrices l and

, respectively.

uses only sensors as the measured outputs of ss.

specifies finputs as the feedback inputs of ss.

specifies einputs as the exogenous deterministic inputs.

The state-space model ss can be given as StateSpaceModel, where a, b, c, and d represent the state, input, output, and transmission matrices in either a continuous-time or a discrete-time system:

		continuous-time system
		discrete-time system

The input can include stochastic inputs , feedback inputs , and exogenous deterministic inputs .

The arguments finputs and einputs are lists of integers specifying the positions of and in .

Construct a state-feedback regulator from known estimator and state-feedback gains:

Out[1]=

The regulator for a SISO system with estimator gain

and regulator gain

Its transfer function:

The closed-loop system:

A state-feedback regulator for a system with two sensor outputs, one feedback input, one exogenous deterministic input, and one stochastic input:

An observer-based optimal regulator for a deterministic continuous-time system:

The transfer function of the estimator-regulator:

A state-feedback regulator for the discrete-time model of a satellite's attitude control system:

A regulator for a simple pendulum:

An LQ regulator for a SISO system:

The closed-loop poles are the poles of the state-feedback and estimator subsystems:

Construct an LQG regulator using optimal estimator gains and state-feedback gains:

LQGRegulator gives the same result: