Modern Control Engineering

750 Chapter 10 / Control Systems Design in State Space MATLAB Program 10–7 %**** The following program is to obtain step respons ...

Section 10–5 / State Observers 751 we get Sinceu(q)=0,we have, from Equation (10–33), and so Hence, for r=1,we have It is noted ...

752 Chapter 10 / Control Systems Design in State Space Estimation of unmeasurable state variables is commonly called observation ...

Section 10–5 / State Observers 753 u y y~ Full-order state observer A BC Ke  A BC x x ~ + + ++ ++ – + Figure 10–11 Block diagr ...

754 Chapter 10 / Control Systems Design in State Space Dual Problem. The problem of designing a full-order observer becomes that ...

Section 10–5 / State Observers 755 be completely state controllable. The complete state controllability condition for this dual ...

756 Chapter 10 / Control Systems Design in State Space Direct-Substitution Approach to Obtain State Observer Gain Matrix Ke. Sim ...

Section 10–5 / State Observers 757 wheref(s)is the desired characteristic polynomial for the state observer, or wherem 1 ,m 2 ,p ...

758 Chapter 10 / Control Systems Design in State Space Design a full-order state observer, assuming that the system configuratio ...

Section 10–5 / State Observers 759 Since the desired characteristic equation is by comparing Equation (10–66) with this last equ ...

760 Chapter 10 / Control Systems Design in State Space Consider the completely state controllable and completely observable syst ...

Section 10–5 / State Observers 761 Equation (10–70) describes the dynamics of the observed-state feedback control system. The ch ...

762 Chapter 10 / Control Systems Design in State Space the observer-based controller transfer function or, simply, the observer- ...

Section 10–5 / State Observers 763 For the system defined by Equation (10–75), the characteristic polynomial is Thus, The desire ...

764 Chapter 10 / Control Systems Design in State Space Referring to Equation (10–74), the transfer function of the observer-cont ...

Section 10–5 / State Observers 765 MATLAB Program 10–8 % Obtaining transfer function of observer controller --- full-order obser ...

766 Chapter 10 / Control Systems Design in State Space MATLAB Program 10–9 A = [0 1; 20.6 0]; B = [0;1]; C = [1 0]; K = [29.6 3. ...

Section 10–5 / State Observers 767 uyx y  Plant C A B K x~ Minimum-order observer Transformation + + Figure 10–16 Observed-st ...

768 Chapter 10 / Control Systems Design in State Space It is important to note, however, that if the measurement of output varia ...

Section 10–5 / State Observers 769 Full-Order State Observer Minimum-Order State Observer AAbb Bu y CAab Ke (n*1matrix) Ke [(n-1 ...