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Chapter 4 Frequency-Weighted Error Reduction
© National Instruments Corporation 4-17 Xmath Model Reduction Module
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
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).
E
r
s()
K
R
C
sI A
ˆ
–()K
E
=
Cs() K
R
sI A
ˆ
–()
1–
K
E
IC+ sI A
ˆ
–()
1–
K
E
[]
1–
=
K
R
sI A
ˆ
– K
E
C+()
1–
K
E
=
K
E
Ps()
+
-
1
s
---
K
R
++
C
ABK
R
–
X
+
-
K
R
sI A BK
R
+–()
1–
K
E
CsI A BK
R
+–()
1–
K
E