Lesson 3 (Observer Design)

21-Feb-15

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Observer Design Techniques

Dr. Muhammad Bilal Kadri

State Observers (Open Loop Arrangement)

06-Feb-15 Dr. M Bilal Kadri, PAF-KIET 2

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Problem with open loop arrangement


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Closed Loop Arrangement


Error Driver


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Methods for Calculating Observer Gain : Method # 1


Method # 2


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Method # 3


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Observer Design Example



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1) Direct Comparison Method


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2) Observer Canonical Form Method


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3) Ackermans Formula


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Simulink Block Diagram (Full Order Observer-Closed Loop Config)


Actual and Estimated States


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Effect of Full order state observer on closed loop performance



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Closed Loop State Equations


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Example: State Feedback Control



Converting into Controller Canonical Form

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Simulink Block Diagram (State Feedback Control)



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Reduced Order State Observer



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( ) ( ) ( ) ( )( )u uu au u ua aa a a u a a u ux t A LA x A LA x Lx B LB K y K x


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Assignment



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