Design Case Studies 10 Yaw Damper for a 747 Jet Transport 10-3 Open-Loop Analysis -5 Root Locus design 10-9 Washout Filter Design 10-14 Hard-Disk Read/write Head Controller 10-20 LQG Regulation: Rolling Mill Example 10-31 Process and disturbance models LQG Design for the x-Axis 10-34 LQG Design for the y-Axi Cross-Coupling Between Axes 10-43 MIMO LQG Design 10-46 Kalman Filtering 10-50 Discrete Kalman Filter 10-50 Steady-State Design 0-51 Time-Varying Kalman Filter Time-Varying Design References 1061 Reliable Computations 11 Conditioning and Numerical Stability 114 Conditioning 114 Numerical Stabil 116 Choice oflti mode 118 State Space Transfer Function 118 Zero-Pole-Gain models 11-13 Scaling 1115vi 10 Design Case Studies Yaw Damper for a 747 Jet Transport ................... 10-3 Open-Loop Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5 Root Locus Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9 Washout Filter Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14 Hard-Disk Read/Write Head Controller ............... 10-20 LQG Regulation: Rolling Mill Example ................ 10-31 Process and Disturbance Models . . . . . . . . . . . . . . . . . . . . . . . 10-31 LQG Design for the x-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34 LQG Design for the y-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-41 Cross-Coupling Between Axes . . . . . . . . . . . . . . . . . . . . . . . . . 10-43 MIMO LQG Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-46 Kalman Filtering .................................... 10-50 Discrete Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-50 Steady-State Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-51 Time-Varying Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . 10-57 Time-Varying Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-58 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-61 11 Reliable Computations Conditioning and Numerical Stability ................. 11-4 Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4 Numerical Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6 Choice of LTI Model .................................. 11-8 State Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8 Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8 Zero-Pole-Gain Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13 Scaling ............................................. 11-15