Specifications

reg
16-176
This regulator should be connected to the plant using positive feedback.
rsys = reg(sys,K,L,sensors,known,controls) handles more general
regulation problems where:
• The plant inputs consist of controls , known inputs , and stochastic
inputs .
• Only a subset of the plant outputs is measured.
The index vectors
sensors, known,andcontrols specify , , and as
subsets of the outputs and inputs of
sys. The resulting regulator uses
as inputs to generate the commands (see figure below).
u
y
x
ˆ
K–
Regulator
u
Plant
y
State
Estimator
uu
d
w
y
yu
d
u
u
d
; y
[]
u
x
ˆ
u
y
u
d
K–
u
Regulator rsys
Estimator
(gain L)
(known)
(sensors)