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DT Controller N Observer

This document discusses discrete-time pole placement for state feedback control design and observer design. It covers regulation problems, controllability conditions, methods for computing state feedback gain matrices like Ackermann's formula, and designing observers like Luenberger observers. The key steps are to 1) design a state feedback gain to place closed-loop poles, 2) design an observer with dynamics defined by its gain matrix to estimate states, 3) show the separation principle holds to independently design the controller and observer.

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Pratiksha Anuragi
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65 views21 pages

DT Controller N Observer

This document discusses discrete-time pole placement for state feedback control design and observer design. It covers regulation problems, controllability conditions, methods for computing state feedback gain matrices like Ackermann's formula, and designing observers like Luenberger observers. The key steps are to 1) design a state feedback gain to place closed-loop poles, 2) design an observer with dynamics defined by its gain matrix to estimate states, 3) show the separation principle holds to independently design the controller and observer.

Uploaded by

Pratiksha Anuragi
Copyright
© © All Rights Reserved
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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Discrete-time Pole-Placement

Design and Observers


• Consider the state-space model of a SISO system

, u(k) and y(k) are scalar. In state feedback design, the states are fedback to
place the closed loop poles at desired locations.

Regulation Problem: When we want the states to approach zero starting from any
arbitrary initial state, the design problem is known as regulation where the internal
stability of the system, with desired transients, is achieved.
Control input:

The control problem can thus be defined as: Design a state feedback gain matrix K such that
the control law places poles of the closed loop system
in desired locations.

• A necessary and sufficient condition for arbitrary pole placement is that the
pair (A,B) must be controllable.
• Since the states are fedback to the input side, we assume that all the states are
measurable.
• Designing K by Ackermann's Formula

• Designing K by transforming the state model into controllable form


• Example: Find out the state feedback gain matrix K for the following system such that the closed
loop poles are located at 0.5 , 0.6 and 0.7.

The above matrix has rank 3, so the system is controllable.

Open loop characteristic equation:


• Desired characteristic equation:

Since the open loop system is already in controllable canonical form


Using Ackermann's formula:
State Estimators or Observers

• One should note that although state feed back control is very attractive because of precise
computation of the gain matrix K, implementation of a state feedback controller is possible only when
all state variables are directly measurable with help of some kind of sensors.

• Due to the excess number of required sensors or unavailability of states for measurement, in most
of the practical situations this requirement is not met.

• Only a subset of state variables or their combinations may be available for measurements.
Sometimes only output y is available for measurement.

• Hence the need for an estimator or observer is obvious which estimates all state variables while
observing input and output.
Full order observer

• Consider the following system

Assumption: The pair (A,C) is observable.

Goal : To construct a dynamic system that will estimate the state vector based on the information
of the plant input u and output y.
Open loop Estimator
The dynamics of this estimator are described by the following
If the eigenvalues of A are inside the unit circle then will converge to 0 .
But we have no control over the convergence rate.

Moreover, A may have eigenvalues outside the unit circle. In that case will
diverge from 0 . Thus the open loop estimator is impractical.
Luenberger State Observer

It can be seen that , if L can be designed such that (A-LC) has


eigenvalues inside the unit circle of z -plane.

The convergence rate can also be controlled by properly choosing the


closed loop eigenvalues.
Design observer such that the observer poles are at 0.2 and 0.3.
Controller with Observer
The system equations:

The observer dynamics:

Combining observer dynamics with the system dynamics


Since the states are unavailable for measurements, the control input is

Putting the control law in the augmented equation

The error dynamics is


If we augment the error dynamics with the system dynamics, we get

Looking at the matrix one can easily understand that 2n eigenvalues of the augmented matrix
are equal to the individual eigenvalues of (A-BK) and (A-LC).

From the above fact, it can be concluded that the separation principle holds.
Block Diagram of Controller with Observer
Compensator Design by Separation Principle

State variable model of compensator

ˆ k ) + Ly(k )
ˆ k +1) = (A - BK - LC)x(
x(

Converting the discrete-time state variable model to transfer


function model gives
U ( z)
= K ( zI − A + BK + LC ) −1 L
−Y ( z )
Example

For a discrete-time regulator system given by


 2 −1  4
x(k + 1) =   x(k ) +   u (k )
 −1 1   3
y (k ) = 1 1 x(k )

a) Design a state-feedback controller such that the closed loop poles


are located at ±j0.5.
b) Design observer such that observer poles are located at ±j0.25.
c) Obtain state variable model of observer based feedback control
system.
d) Find the transfer function of compensator by combining a) & b).

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