Lab Session 4

Objective
The objective of this Lab is to learn the estimator design and implement it with full
state feedback control for regulator.
Apparatus
MATLAB Software
Introduction
The basic estimator design involves the creating the states using the output of the
system. The simplest form of observer is the Luenberger Observer which uses the
system mathematical model and compare the output of the system and the
mathematical model and the difference is amplified and fed back to estimate the
correct value of the state.
The differential equation of the observer is
= + + ( )
Here represent estimated states and L is the observer gain. The gain is
decided on the basis of poles of the observer and how fast the error needs to be
eliminated.
The goal of the observer is to provide an estimate x so that as
Remember that we do not know (0 ) precisely; therefore we must provide an initial
estimate (0 ) to the observer. Define the observer estimation error as

The observer design should produce an observer with the property that () 0 as
0. One of the main results of systems theory is that if the system is completely
observable, we can always find L so that the tracking error is asymptotically stable
as desired. Taking the time-derivative of the estimation error yields

and using the system model and the observer we obtain

The characteristic equation is

the observer design process reduces to finding the matrix L such that the roots of the
characteristic equation lie in the left half-plane. This can always be accomplished if
the system is completely observable.

Example:
Consider the Inverted pendulum the system matrix is

System parameters are

l = 0.098 m
g=9.8 m/ 2
m=0.825 kg
M=8.085 kg

A=[0 1 0 0;0 0 -1 0;0 0 0 1;0 0 100 0];

B=[0;0.1237;0;-1.2621];
C=[1 0 0 0];
D=[0;0;0;0];
Pc=ctrb(A,B);
Po=obsv(A,C);
detPc=det(Pc)
detPo=det(Po)
P=[-3+2i;-3-2i;-5;-6]
Q=[-30+20i,-30-20i,-50,-60];
K=acker(A,B,P)
L=acker(A',C',Q)
Observations

Conclusion