
562 Fuel Cells
value of Q
z
is greater than a value of R
u
, then minimizing the performance
variable will be more important than reducing the control effort required
and vice versa. This can be used to adjust the importance of control parame-
ters and their resulting gains. The Algebraic Riccati Equation is used to solve
for gains that satisfy a cost function. The result is a state feedback controller.
δδukxkx
=− −
p
(12.81)
The state feedback controllers assume that all linearized states are avail-
able to them at all times. Hence, a state observer needs to be designed. A
state observer estimates unknown values in
, those not directly measured ...