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hnology
Dept. of Systems and Control
BPGH November 5, 2012
( ) = Ax(t) + B u(t);
x t
( ) = C x(t) + w(t):
y t
Observer:
(3)
( ) + mr (t):
u t
Lx t
( )g:
x t
(4)
Cx t
Sin e A
KC
KC
)fx
(t)
( )g = 0:
(5)
x t
( ) = x(t):
x t
Note that the above equality may not hold if A K C is a singular matrix, whi
h
would mean that the estimation error may not be zero at steady state (stati
ondition). Using (1),(3) and (6) we get
()=
x t
(A
BL
()
B mr t
()=
y t
C A
BL
()
B mr t :
(7)
C A
BL
(8)
Ex 2.2
x t
( ) + B mr (t):
B Lx t
(9)
x t
BL
)( ) + B mr (t) + K w(t):
KC x t
(10)
( )
x
(t)
x t
() =
y t
A
KC
BL
A
BL
()
(t)
x
x t
KC
()
(t)
x
x t
Bm
Bm
( )+
r t
0
K
()
w t
(11)
+ w(t):
Ex 2.3
K = (a ker(A',C',p_obs))'
Ex 2.4
Ex 2.5
Sn = ss(F, [zeros(size(K)); K, H, 1)
Let C =
1 : : :
n and B =
in dimensions of B and C ). Then
Ex 2.6
()=
b1
n
X
g t
k=1
k bk
:::
bn
>
epk t :
(12)
g t
(13)
whi
h means that the slope of the semilog
urve for large t gives the dominating
pole.
Table 1:
Table 2:
for that. Next we study state spa
e feedba
k
ontrol of the systems. To
reate
the state spa
e des
ription of open loop system use
s1 = ss(g1), [A, B, C, D = ssdata(s1);
Next
hoose your pole! Let p_s be the ve
tor of
ontroller poles and p_o be the
ve
tor of observer poles. Observer poles has to be faster than the system poles.
The set of
odes given in Table 2 may be helpful.
4