Optimal state-rate feedback explicit model-following

The development of optimal explicit model-following control laws which include the use of state-rate signals is described. By formulating the control problem to consider both state and state-rate errors, some generalization of previous results is obtained. For special cases in which 'perfect' model-following is possible, the form of the resulting control law is particularly simple and leads to clear understanding of the direct influences of the weighting matrices used in the problem formulation. In addition the use of state-rate feedback permits the solution to be expressed in terms of gains on state an state-rate errors between model and controlled element, thereby obviating any requirement that perturbation signals be used for feedback.