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Module 2
Vinod V Nair
State Observer(Module 2 contd.)
• State Observer. A state observer estimates the state variables based on
the measurements of the output and control variables.
• State observers can be designed if and only if the observability condition is
satisfied.
• The observer is a subsystem to reconstruct the state vector of the plant.
The mathematical model of the observer is basically the same as that of
the plant, except that we include an additional term that includes the
estimation error to compensate for inaccuracies in matrices A and B
• The estimation error or observation error is the difference between the
measured output and the estimated output. The initial error is the
difference between the initial state and the initial estimated state.
Z = Po X
Po − 1 Z = Po − 1 Po X
X = Po − 1 Z
. .
−1
X = Po Z = A X + B u = A Po − 1 Z + B u
.
ie Z = Po A Po − 1 Z + Po B u = Ao Z + B o u
y = C Po − 1 Z + D u = C o Z + D u
Ao = Po A Po − 1
B o = Po B ;
C o = C Pc − 1
0 0......0 − an
1 0.......0 − a bn
b
n−1
n −1 Co =[0 0.....0 1]
Ao = . B = .
o
. .
0 0.......1 − a1 b1
Determination of Po
Ch. Equation of original system is λI − A = λ n + a1λ n−1 + a2λ n−2 + .........an−1λ + an = 0
a n − 1 a n − 2 ....... a 2 a 1 0
a a ....... a 1 0
n − 2 n − 3 1
.
Po = WQoT
W = .
a1 1 ...........0 0 0 Qo = CT AT CT ( AT )2 CT .....( AT )n−1 CT
1 0 ...........0 0 0
Example
Example
Define
r U
+
x x y
+
-
B
+ ∫ C
•.
x̂x A
x̂
+
m
-
•
Bu ++ xˆ x̂ ŷ
B + ∫∫ ∫ C
+
OBSERVER A
K
Feedback of observed
state variable
State Observer
Full-Order State Observer. The order of the state observer that
will be discussed here is the same as that of the plant. Assume
that the plant is defined by
relationship.
Also the matrices A, B and K in control become AT, CT and mT in estimation
due to duality..
State Observer Design - Comments
State Observer Design
State Observer Design
State Observer Design
x% = x − xˆ = Ax + Bu − [ Axˆ + Bu − m ( y − yˆ )]
= Ax + Bu − Axˆ − Bu − mC ( x − xˆ )
= A( x − xˆ ) − mC ( x − xˆ )
= ( A − mC )( x − xˆ )
ie x% = ( A − mC ) x%
Characteristic equation of the error vector is λ I − ( A − mC) = 0
where the state vector x can be partitioned into two parts xa, (a scalar)
and xb.Here the state variable xa , is equal to the output y and thus can be
directly measured, and xb is the un-measurable portion of the state vector.
Then the partitioned state and output equations become
And we have