The Construction of Optimal Linear and Nonlinear Regulators

The regulator servomechanism problem is to design a feedforward and feedback control law to make the output of a given system called the plant, track a signal from a given class. There are various ways to make this precise, we shall follows Francis [5] and Isidori and Byrnes [11]. The class of signals to be tracked are described as the output of a second system called the signal generator (or exosystem). The control law consists of feedforward terms involving the state of signal generator, feedback terms involving the state of the plant and mixed terms involving both.