Assigning controllability and observability Gramians in feedback control
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Almost all robustness properties of linear systems can be related directly to properties of the controllability or observability Gramian. This paper shows how to assign the controllability or observability Gramian of the closed-loop system. All Gramian controllers are also parameterized in terms of model data in a state-space representation. © 1991 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.
author list (cited authors)
Yasuda, K., & Skelton, R. E.