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Chapter 12 LQG/H-Infinity Synthesis
© National Instruments Corporation 12-9 Xmath Interactive Control Design Module
The weighted output vector z consists of the following:
• Filtered inputs ( )
• Plant states (x
p
)
• Filtered plant outputs ( )
• Integrated, filtered plant outputs (y
I
)
The disturbance input vector (w) consists of the following:
• General LQG state disturbances (w
x
)
• General LQG output disturbances (w
y
)
• Input-referred disturbances or process noise (w
p
)
• Measurement, or sensor noise (w
s
)
• Filter noise (w
F
)
• Reference noise for the purpose of setpoint tracking (w
r
)
The measured output consists of the following:
• Integrated, filtered measured plant outputs (y
I,sens
)
• Filtered measured plant outputs ( )
• Measured plant outputs (y
p,sens
)
u
˜
y
˜
y
˜
sens