DISCRETE-TIME COMPENSATORS WITH LOOP TRANSFER RECOVERY

Loop transfer recovery (LTR) has gained some prominence over the last years. In this paper, we briefly overview the main design features of the LQG/LTR controller both at the input and at the output of the plan t, using the delta operator formulation that has been recently develop ed in [1]. Two discrete time compensators with LTR capability are then derived following the LTR design approach proposed in [2] for the con tinuous-time case. These compensators are shown to outperform their un derlying LQG/LTR controllers from the perspective of recovery error. O f particular importance, they share the same degree of recovery as the continuous time compensators of [2] and [3] when the sampling period goes to zero.