On the construction of a minimal order annihilator and its role in dynamic control allocation

This paper revisits the dynamic allocation problem for linear systems subject to periodic exogenous inputs. In previous works, the allocator is structured as a cascade of an optimizer and an annihilator, and incorporates a certain number of copies of the exosystem model. The annihilator can be designed using different methodologies. In this work, we compare two strategies for its computation with the objective of obtaining one of minimal order. Based on this analysis, we propose a revisited allocator design that reduces the overall dimension of its dynamics by embedding the exosystem modes directly into the annihilator.