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Lecture 7.1 (25-27)

This document provides an example of designing an observer controller for a plant system using pole placement. It gives the state feedback gain, observer gain, block diagrams of the observed state feedback system, and transfer function. It also provides the dynamics equations and characteristic polynomial for the observed state feedback control system. Finally, it briefly introduces the concept of a minimum-order observer that only estimates the necessary state variables rather than all of them.

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Saif Alabdullah
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25 views3 pages

Lecture 7.1 (25-27)

This document provides an example of designing an observer controller for a plant system using pole placement. It gives the state feedback gain, observer gain, block diagrams of the observed state feedback system, and transfer function. It also provides the dynamics equations and characteristic polynomial for the observed state feedback control system. Finally, it briefly introduces the concept of a minimum-order observer that only estimates the necessary state variables rather than all of them.

Uploaded by

Saif Alabdullah
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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Example 1.

14 Consider the design of a regulator system for the following plant:


𝑥̇ = 𝐴𝑥 + 𝑏𝑢
𝑦 = 𝑐𝑥
where:
0 1 0
𝐴=[ ]; 𝑏 = [ ]; 𝑐 = [1 0]
20.6 0 1
Suppose that we use the pole-placement approach to the design of the system and that the
desired closed-loop poles for this system are at 𝜇1 = −1.8 + 𝑗2.4 and 𝜇2 = −1.8 − 𝑗2.4.
Design the observer controller.
Solution:
The state feedback gain matrix 𝑘 for this case can be obtained as follows:
𝑘 = [29.6 3.6]
Using this state-feedback gain matrix 𝑘, the control signal u is given by:
𝑥1
𝑢 = −𝑘𝑥 = −[29.6 3.6] [𝑥 ]
2

Suppose that we use the observed-state feedback control instead of the actual-state feedback
control, or:
𝑥̃
𝑢 = −𝑘𝑥 = −[29.6 3.6] [ 1 ]
𝑥̃2
where we choose the observer poles to be at:
𝑠 = −8, 𝑠 = −8
Obtain the observer gain matrix 𝑘𝑒 and draw a block diagram for the observed-state feedback
𝑈(𝑠)
control system. Then obtain the transfer function for the observer controller, and draw
−𝑌(𝑠)

another block diagram with the observer controller as a series controller in the feed forward
path. Finally, obtain the response of the system to the following initial condition:
1 0.5
𝑥(0) = [ ] ; 𝑒(0) = [ ]
0 0
The characteristic polynomial is

|𝑠𝐼 − 𝐴| = | 𝑠 −1
| = 𝑠 2 − 20.6 = 𝑠 2 + 𝑎1 𝑠 + 𝑎2
−20.6 𝑠
Thus
𝑎1 = 0; 𝑎𝑛𝑑 𝑎2 = −20.6

The desired characteristic polynomial for the observer is

25
(𝑠 + 8)(𝑠 + 8) = 𝑠 2 + 16𝑠 + 64 = 𝑠 2 + 𝛼1 𝑠 + 𝛼2
Hence,

𝛼1 = 16; 𝑎𝑛𝑑 𝛼2 = 64
The observer gain matrix is given as:
0 1 1 0 −1 64 + 20.6 16
𝑘𝑒 = {[ ][ ]} [ ]=[ ]
1 0 0 1 16 − 0 84.6
Since;
𝑑𝑥̃
= (𝐴 − 𝑘𝑒 𝑐 − 𝑏𝑘)𝑥̃ + 𝑘𝑒 𝑦
𝑑𝑡
𝑑𝑥̃1
0 1 16 [ 0 𝑥̃ 16
[ 𝑑𝑡 ] = {[ ]−[ ] 1 0] − [ ] [29.6 3.6]} [ 1 ] + [ ]𝑦
𝑑𝑥̃2 20.6 0 84.6 1 𝑥̃2 84.6
𝑑𝑡
−16 1 𝑥̃ 16
=[ ] [ 1] + [ ]𝑦
−93.6 −3.6 𝑥̃2 84.6
The block diagram of the system with observed-state feedback is shown in Figure 7:

Figure 7 (a) block diagram of system with observed state feedback.


(b) block diagram of transfer function system.
26
𝑈(𝑠)
= 𝑘(𝑠𝐼 − 𝐴 + 𝑘𝑒 𝑐 + 𝑏𝑘)−1 𝑘𝑒
−𝑌(𝑠)
𝑠 + 16 −1 −1 16 778.16𝑠 + 3690.72
= [29.6 3.6] [ ] [ ]= 2
93.6 𝑠 + 3.6 84.6 𝑠 + 19.6𝑠 + 151.2
The dynamics of the observed-state feedback control system just designed can be described by
the following equations: For the plant,
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ] [𝑥 ] + [ ] 𝑢
𝑥̇ 2 20.6 0 2 1
𝑥1
𝑦 = [1 0 ] [ 𝑥 ]
2

For the observer:


𝑑𝑥̃1
−16 1 𝑥̃ 16
[ 𝑑𝑡 ] = [ ] [ 1] + [ ]𝑦
𝑑𝑥̃2 −93.6 −3.6 2 𝑥̃ 84.6
𝑑𝑡
𝑥̃
𝑢 = −[29.6 3.6] [ 1 ]
𝑥̃2
The system, as a whole, is of fourth order. The characteristic equation for the system is:
|𝑠𝐼 − 𝐴 + 𝑏𝑘||𝑠𝐼 − 𝐴 + 𝑘𝑒 𝑐| = 0
(𝑠 2 + 3.6𝑠 + 9)(𝑠 2 + 16𝑠 + 64) = 𝑠 4 + 19.6𝑠 3 + 130.6𝑠 2 + 374.4𝑠 + 576 = 0
The characteristic equation can also be obtained from the block diagram for the system shown
in Figure 7b. Since the closed-loop transfer function is:
𝑌(𝑠) 778.16𝑠 + 3690.72
= 2
𝑈(𝑠) (𝑠 + 19.6𝑠 + 151.2)(𝑠 2 − 20.6) + 778.16𝑠 + 3690.72

1.4.3 Minimum-Order Observer:


The observers discussed thus far are designed to reconstruct all the state variables. In practice,
some of the state variables may be accurately measured. Such accurately measurable state
variables need not be estimated.
Suppose that the state vector 𝒙(𝑡) is an n-vector and the output vector 𝑦(𝑡) is an m-vector that
can be measured. Since m output variables are linear combinations of the state variables, m
state variables need not be estimated. We need to estimate only 𝑛 − 𝑚 state variables. Then
the reduced-order observer becomes an (𝑛 − 𝑚)𝑡ℎ order observer. Such an (𝑛 − 𝑚)𝑡ℎ order
observer is the minimum-order observer. Figure 8 shows the block diagram of a system with a
minimum-order observer.

27

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