Title :
A Parameterization and an Algorithm for the Selection of Decoupling Feedback Gains
Author_Institution :
Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210; Pakistan Air Force.
Abstract :
A parameterization of linear decoupling controllers of PD type for dynamic systems which evolve around an equilibrium point is presented. The scheme includes decoupling controllers of both diagonalizing and disturbance decoupling types. An algorithm to compute decoupling feedback gains is included.
Keywords :
Control systems; Couplings; Equations; Friction; Legged locomotion; Linear feedback control systems; PD control; Stability; State feedback; Subspace constraints;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
