Optimal output feedback in two time scale systems

A formulation is presented for designing optimal output feedback regulators of fixed order. The formulation exploits an observer canonical form to represent the compensator dynamics. The formulation precludes the use of direct feedback of the plant output. The major contribution of the paper is to present how this approach to compensator design may be extended to output feedback of singularly perturbed systems. The result is that two compensators are designed that operate on separate time scales, and which may be implemented with different sampling rates.