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08 Reduced Order Observer

The document discusses reduced order observers. It states that a reduced order observer is a dynamic system of order (n-q) that provides an estimate of the state of an n-order system using only q outputs. It transforms the original system into an equivalent system where the first q states are directly observable from the outputs. The reduced order observer then estimates only the remaining (n-q) states. Designing the observer gains allows assigning its eigenvalues to arbitrarily stabilize the estimation error dynamics. The combined system of plant with state feedback and reduced order observer has eigenvalues that are the union of the plant and observer eigenvalues, providing a separation property.

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Marco Bertoldi
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193 views6 pages

08 Reduced Order Observer

The document discusses reduced order observers. It states that a reduced order observer is a dynamic system of order (n-q) that provides an estimate of the state of an n-order system using only q outputs. It transforms the original system into an equivalent system where the first q states are directly observable from the outputs. The reduced order observer then estimates only the remaining (n-q) states. Designing the observer gains allows assigning its eigenvalues to arbitrarily stabilize the estimation error dynamics. The combined system of plant with state feedback and reduced order observer has eigenvalues that are the union of the plant and observer eigenvalues, providing a separation property.

Uploaded by

Marco Bertoldi
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Reduced Order Observer

AUTOMATIC CONTROL AND SYSTEM THEORY

REDUCED ORDER OBSERVER


Gianluca Palli
Dipartimento di Ingegneria dellEnergia Elettrica e dellInformazione (DEI) Universit di Bologna Email: [email protected]

G. Palli (DEI)

Automatic Control & System Theory

Reduced Order Observer

Reduced Order Observer

Problem statement:

Given an n-order continuous-time [discrete-time] linear system

with q outputs, full rank C matrix ( rank(C)=q ) and (A,C) fully observable, provide an estimation of the system state by mean of a dynamic system of order (n-q).

Solution:
The output information about the q components of the state are directly exploited and only the (n-q) missing components are estimated. By means of a state space transformation T=[T1 T2] where T1=C+ (right pseudoinverse of C) and ima(T2)=ker(C), an equivalent system (A,B,C,D) is obtained such that C=[Iq 0(n-q)].

G. Palli (DEI)

Automatic Control & System Theory

Reduced Order Observer

Reduced Order Observer

Equivalent system
Defining as z the state of the equivalent system it follows:

By means of the change of variable y0 = y D u = z1 we obtain:

=0

where L is the (n-q)xq matrix of the reduced-order observer gains.


G. Palli (DEI)

Automatic Control & System Theory

Reduced Order Observer

Reduced Order Observer

Reduced-order observer design


By assuming w=z2 + L y0 we obtain:

This can be rewritten in more compact form as [dicrete-time case]: where:

The n-q reduced-order observer eigenvalues can be arbitrarily assigned by means of a suitable choice of the matrix L if the couple (A22, A12) is fully observable, this condition is always verified if (A,C) is fully observable and C has rank q.
G. Palli (DEI)

Automatic Control & System Theory

Reduced Order Observer

Reduced Order Observer

Reduced-order observer structure


Input State-Space Output

The reduced-order observer is a (n-q)-order system that estimates the components of the state that cannot be directly reconstructed from the output. In this way it is possible to fully exploit the system output and to estimate only the missing information about the state.

State estimation Integrator

Separation property

The 2n-q eigenvalues of the system composed by the static state feedback K and by the reduced-order observer are the union (with repetition) of the n eigenvalues of A + B K and of the n-q eigenvalues of A22 + L A12.
G. Palli (DEI)

Automatic Control & System Theory

Reduced Order Observer

Reduced Order Observer

Separation property for the reduced-order observer (continuous-time case)


By means of the feedback and by assuming the error function :

By posing

we obtain:

With the given assumption, the following properties hold:

The obtained dynamic system with state feedback can be then written as:

G. Palli (DEI)

Automatic Control & System Theory

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