Fall 2001 16.3116-6 Note the similarity Regulator Problem: pick K for A- BK o Choose K ERIXn(SiSo) such that the closed-loop poles det(s-A+BK)=重(s are in the desired locations Estimator Problem: pick L for A-LC o Choose E RxI(SiSO)such that the closed-loop poles dt(s-A+LC)=重(s) are in the desired locations o These problems are obviously very similar-in fact they are called dual problemsFall 2001 16.31 16—6 • Note the similarity: — Regulator Problem: pick K for A − BK 3 Choose K ∈ R1×n (SISO) such that the closed-loop poles det(sI − A + BK) = Φc(s) are in the desired locations. — Estimator Problem: pick L for A − LC 3 Choose L ∈ Rn×1 (SISO) such that the closed-loop poles det(sI − A + LC) = Φo(s) are in the desired locations. • These problems are obviously very similar — in fact they are called dual problems