Beruflich Dokumente
Kultur Dokumente
Ivan Markovsky
Observers
observed variables w w
Bext
z
to-be-estimated variables z
w Observer z
Now our goal is recursive feedback observer for the current state x(t)
ELEC 3035 (Part I, Lecture 7) Observer design 2 / 12
Output feedback control
separation and certainty principles
We can extend a given state-feedback controller
u = Kx
to output feedback controller
u = K xb
by using the observer state estimate xb in place of x.
u Plant y
xb
K Observer
The dynamics of e is
e = (x xb)
= Ax + Bu Axb Bu + L(y yb)
= A(x xb) + LC(x xb)
= (A + LC) e
| {z }
Ao
x = Ax + Bu and u = Kx
x = (A + BK ) x
| {z }
Ac
Ao := A + LC
Lemma:
Let A, c and A , c be two observable pairs and
assume that A and A have the same char. polynomials.
Then there is a unique similarity transformation given by the matrix
1
T := O(A , c ) O(A, c)
such that
T 1 AT = A and cT = c .
u Plant y
xb
K Observer
where
Plant: x = Ax + Bu, y = Cx + Du
x A BK x
Closed-loop system: =
xb LC A + LC + BK xb
x A + BK BK x
Error equation: =
e 0 A + LC e
0 1
1 0
u
y
2 1
3 2
4 3
5 10 15 20 5 10 15 20
t t