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The concept of Sensitivity Adaptive Feedback with Estimation Redistribution (SAFER) is reviewed. Explicit inclusion of a cost of estimation is accomplished by a sensitivity function approach. Redistribution of the effort the control expends on estimation is achieved through the choice of a sensitivity weighting matrix according to the accuracy required to achieve a given control objective. Dual effect...
The problem of reducing trajectory sensitivity to small time delays is considered. State and output feedback gains are computed, so that the system performs optimally with low sensitivity. The delay is assumed to be expected to occur in the plant or in the feedback path. Numerical examples are discussed.
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