Computer-aided design of tracking systems

Interactive computer-aided design of tracking systems is achieved via coefficient plane models, loop Bode plots and quadratic index minimization. Classical performance indices are used and the approach is directly linked to good existing engineering design by concentrating on a popular region of the coefficient plane. Detailed examples include an illustration showing that performance variation in the presence of system changes is reduced by hardware feedback implementation. A similar reduction does not result from an equivalent design based on state-variable estimation using observers. To achieve a low-order compensator compatible with performance specifications, a least-squares error algorithm is incorporated.