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An optimal static compensator for output feed-back LQ control across lossy links

This paper studies the compensation problem of discrete time-invariant output feedback LQ control across lossy links under TCP-like protocols where output dropout occurs. A general approach for static compensation is proposed first connecting the compensator gain selection and the LQ performance index. We then extend existing results for state feedback to output feedback and obtain a new set of gain equations for the controller and the compensator that satisfies optimality conditions. A solution algorithm to solve the resulting governing equations is also presented in the paper. Finally numerical examples are provided to validate the new approach.