For the IH-LQG control system of Fig. 11-6, suppose that the plant is single-input single-output, such that B and C are vectors. To determine the system robustness, the open-loop transfer functions for the system opened at a and opened at b must be determined.

(a) Find the open-loop transfer function for the system opened at the point a.

(b) Find the open-loop transfer function for the system opened at the point b.

(c) Give the transfer functions for the frequency responses that must be calculated to determine robustness.

Fig. 11-6

Transcribed Image Text:

U(z) a Control -K b Q(z) | 1 1 B B-GCB (z1-A)- A Plant (zl-A)- Kalman filter C X(z) G C N Y(z) 1 1 T 1 T