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In this contribution, the general optimal minimum-variance (MV) solution to the full dynamical reconstruction and control problem of AO systems (AOSs) is established. For such systems an important challenge is to design an optimal regulator minimizing the variance of the residual phase. Such assumption may no longer apply for the upcoming Extremely Large Telescopes (ELTs) with DM that are several meters in diameter with slow and/or resonant responses. In adaptive optics (AO) the deformable mirror (DM) dynamics are usually neglected because, in general, the DM can be considered infinitely fast.
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