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Aula 14
Estimador assinttico
J. A. M. Felippe de Souza
Estimador assinttico
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u(t)
y(t)
^
x(t)
que uma estimativa do estado x(t) do sistema original.
Estimador assinttico
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Estimador assinttico
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Estimador assinttico
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Estimador assinttico
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l um
vetor
coluna
l=
l1
l2
ln
Estimador assinttico
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Estimador assinttico
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Estimador assinttico
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Estimador assinttico
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lc).
Mtodo Braal
Neste mtodo, semelhana da Aula 12, ns calculamos (s), o polinmio
caracterstico de (A
so os coeficientes de l.
l1
l
2
l =
M
l n
que
Estimador assinttico
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(A lc)
_
Equacionando as duas expresses de (s), obtm-se n equaes
para os n coeficientes de si, i = 1, 2, , (n1).
A soluo destas equaes nos d l.
l1
l
2
l =
M
l n
Estimador assinttico
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Achar
l = [ l1 l2 ]T
tal que o estimador tenha polos
1,2 = 2 j
Estimador assinttico
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2
( A lc) =
1
1 l1
2 3l 1
[3 4 ] =
1 l 2
1 3l 2
1 4l 1
1 4l 2
(s ) = (s 2 j) (s 2 + j)
= s 2 + 4s + 5
Igualando os coeficientes:
3 + 3l 1 + 4l 2 = 4
3 7 l 1 5l 2 = 5
43
l 1 = 13 = 3,3
l = 55 = 4,23
2
13
Estimador assinttico
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Mtodo Algoritmo
Semelhantemente Aula 12 para Realimentao de Estado (matriz
A + bk), o algoritmo aqui para Estimao de Estado (matriz A lc)
Estimador assinttico
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p n = c
p n i = p n i +1A + i p n ,
i = 1, L , n 1
(6.14)
Estimador assinttico
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P =
v) Achar
p1
p2
M
pn
~ 1
P = V V
Q = P1
Q = P
_
vi) Achar
l = Q l = P1 l
~
= V V
1
Estimador assinttico
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Achar
l = [ l1 l2 ]T
tal que o estimador tenha polos
1,2 = 2 j
Estimador assinttico
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i)
ii)
1 = 4
(s ) = (s 2 j) (s 2 + j)
2 = 5
= s 2 + 4s + 5
iii)
iv) e
v)
~ 1
P = V V
usando as equaes
Q = P
~
= V V
1
Estimador assinttico
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Agora,
0 3
~
A =
1 3
~c = [0 1]
3 1
~ 1
V =
1 0
Q = P 1
4
13
~
= V 1V =
3
13
~c
0 1
~
V = ~ ~ =
c A
1 3
7
~ 1
P = V V =
3
5
0,3077
13
=
0, 2308
13
5
4
0,3846
0,5385
Estimador assinttico
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Logo,
7
P=
3
Q = P 1
4
13
==
3
13
5
0,3077
13
=
7
0, 2308
13
0,3846
0,5385
Estimador assinttico
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4
13
1
l = Ql = P l =
3
13
l =
l1
l2
5
2
3,3
13
7
4,23
7
13
3,3
4,23
Estimador assinttico
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Verificao:
l =
3,3
4,23
( s ) = det [sI ( A l c ) ] =
s 11 ,9
= det
13 , 69
14 , 2
=
s + 15 ,92
= s 2 + 4s + 5
cujas razes so obviamente:
1,2 = 2 j
Estimador assinttico
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Achar
l = [ l1 l2 l3 ]
1 = 3 , 2 = 4, 3 = 5
Realimentao de Estado
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i)
1 = 0
( s ) = det( sI A ) = s 3 9 s + 2
2 = 9
ii)
( s ) = ( s + 3 )( s + 4 )( s + 5 )
= s + 12 s + 47 s + 60
3
iii)
(3 3 ) 58
l = ( 2 2 ) = 56
(1 1 ) 12
3 = 2
1 = 12
2 = 47
3 = 60
Estimador assinttico
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iv)
p 3 = c = [0 0 1]
p 2 = p 3 A + 1p 3 = cA + 1c = [0 2 0 ]
2
p
=
p
A
+
p
=
cA
+ 1cA + 2 c = [6
2
n 1 3
1
7]
6 2 7
P = 0 2
0
0 0
1
v)
Q = P 1
Estimador assinttico
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Estimador assinttico
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1 / 6
1
l = Ql = P l = 0
l1
l2
l3
1/ 6
1/ 2
0
33
=
28
12
7 / 6 58
33
0 56 = 28
1 12
12
Estimador assinttico
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Verificao:
l =
1
( A l c ) = 3
0
33
28
12
33
1 28
2
0
2
( s ) = det [ sI ( A l c ) ] =
s 1
= det 3
2
s +1
2
33
28 =
= s 3 + 12 s 2 + 47 s + 60
cujas razes so:
1 = 3 ,
2 = 4
3 = 5
Obrigado!
Felippe de Souza
felippe@ubi.pt