Fall 2001 163117-3 Observation: The closed-loop poles for this system con- sist of the union of the regulator poles and estimator poles So we can just design the estimator/regulator separately and com- bine them at the end Called the Separation Principle Just keep in mind that the pole locations you are picking for these two sub-problems will also be the closed-loop pole locations Note: the separation principle means that there will be no ambi- guity or uncertainty about the stability and or performance of the close d-loop system The closed-loop poles will be exactly where you put them! And we have not even said what compensator does this amazin accomplishment!!!Fall 2001 16.31 17—3 • Observation: The closed-loop poles for this system con￾sist of the union of the regulator poles and estimator poles. • So we can just design the estimator/regulator separately and com￾bine them at the end. — Called the Separation Principle. — Just keep in mind that the pole locations you are picking for these two sub-problems will also be the closed-loop pole locations. • Note: the separation principle means that there will be no ambi￾guity or uncertainty about the stability and/or performance of the closed-loop system. — The closed-loop poles will be exactly where you put them!! — And we have not even said what compensator does this amazing accomplishment!!!