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Message ID: 7714     Entry time: Thu Nov 15 02:18:24 2012
Author: Den 
Type: Update 
Category: Modern Control 
Subject: BS oplev 

I've applied LQR feedback technique to BS oplev in pitch. I think the most inconvenient thing in using LQR controller is the amount of additional states created during cost function shaping. It requires 1 filter bank for each state. To avoid this I wrote state estimation code so all states are calculated inside one function.

On the plots below cost function and oplev feedback controller performance are shown.

lqr_cost.png    olpit_hg.png

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