In the Buzz code we move the plant to shape the seismic noise without shifting the controls noise is:
where is the controller, is the plant, is the environmental noise shaping filter, is the measurement noise shaping filter, is the controls noise PSD, and and are the unshaped PSDs of the respective noise. If we move the plant to the env noise shaping filter such that , , and is a new controller calculated for this system then the controlls noise becomes
In order for these two ststments to be equlivilant
I think this means there needs to be some sort of elimination of the from the since what we are looking for is and not .
Assuming that . i.e. the plant has some shape left in it, then to find the controller to use in the system use:
where is the controller to use in the system, is the origional unmodified plant, is the modified plant, and is the controller found by buzz.