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tems 166
where
T
Lo = lp1 lp2 . . . lpn
xe(k + 1)
= x(k + 1) − x̄(k + 1) (15.7)
= [A − LoC]xe(k) (15.8)
αo(z) = (z − 0.819)2
= z 2 − 1.638z + 0.617
Thus,
A2 − 1.638A + 0.671I
αo(A) = 2
0.033 0.0254
=
0 0.00763
Dr Lee Peng Hin : EE6203 Computer Control Systems 181 Dr Lee Peng Hin : EE6203 Computer Control Systems 182
Now,
−1
C 1 0
Wo−1 = =
CA −10.51 10.51
The observer gain is
T 0.267
Lo = αo(A)Wo−1 0 1 =
0.0802
and the observer obtained is
x̄(k + 1)
− LoC]x̄(k) + Bu(k)
= [A + Loy(k)
0.733 0.0952
= x̄(k) +
−0.0802 0.905
0.00484 0.267
u(k) + y(k)
0.0952 0.0802
Dr Lee Peng Hin : EE6203 Computer Control Systems 183 Dr Lee Peng Hin : EE6203 Computer Control Systems 184
Dr Lee Peng Hin : EE6203 Computer Control Systems 185 Dr Lee Peng Hin : EE6203 Computer Control Systems 186
17 Reduced-order observers
Motivation:
and partitioned the state vector as • For the unmeasurable states, xb(k),
xa(k) we have
x(k) =
xb(k)
xb (k + 1) = Abbxb (k)+
and let
Abaxa(k) + Bbu(k) (17.5)
xa(k) − measurable, i.e. y(k)
xb(k) − unmeasurable, i.e. remaining states the term Abaxa(k) + Bbu(k) can
Then the state space model can be de- be considered as ‘known inputs’ into
or obtained using Ackermann’s formula Example 17.1. Consider the discretised sys-
from (16.2), tem in Example 13.1 for T = 0.1s,
⎤−1 ⎡ ⎤
⎡
Aab 0 1 0.1
⎢ ⎥ ⎢ ⎥ x(k + 1) = x(k)
⎢ AabAbb ⎥ ⎢ 0 ⎥ 0 1
Lr = αo(Abb) ⎢ ⎥ ⎢ ⎥
⎢ .. ⎥ ⎢ .. ⎥ 0.05
⎣ ⎦ ⎣ ⎦ + u(k) (17.16)
AabAbb n−1 1 0.1
(17.15) y(k) = 1 0 x(k) (17.17)
Suppose that
x1(k) measured position of y(k)
=
x2(k) velocity to be estimated
then
Aaa Aab 1 0.1
=
Aba Abb 0 1
Ba 0.05
=
Bb 0.1
i.e. all are scalars and hence Lr is also
a scalar and there is only one estima-
Dr Lee Peng Hin : EE6203 Computer Control Systems 195 Dr Lee Peng Hin : EE6203 Computer Control Systems 196
One form of current observer is given and what we expect the measure-
by the following two equations. ment to be at that time.
= z 2 − 1.638z + 0.617
Dr Lee Peng Hin : EE6203 Computer Control Systems 203 Dr Lee Peng Hin : EE6203 Computer Control Systems 204
u(k) = −Kx̄(k)
• The poles of the closed loop system Combining (19.2) with the estimator
are located at gain from (15.8),
p1, p2, . . . , pn po1 , po2 , . . . , pon xe(k + 1) = [A − LoC]xe(k) (19.3)
i.e. the combination of all the con-
we get the coupled equations of the
trol poles and estimator poles.
complete system as
• The characteristic polynomial of the
complete control system is αc(z)αo(z) . x(k + 1)
This is the Separation Principle by xe(k + 1)
which a controller and an observer A − BK BK x(k)
= (19.4)
0 A − Lo C xe(k)
can be designed separately yet used
together. This is shown as follows :
Then, the characteristic polynomial is Example 19.1. The regulator for the servo
A − BK BK motor in Example 2.1 modeled as
det zI −
0 A − Lo C 1 0.0952
x(k + 1) = x(k)
zI − A + BK −BK 0 0.905
= det
0 zI − A + LoC 0.00484
+ u(k)(19.5)
= det zI − A + BK det zI − A + LoC 0.0952
= αc(z)αo(z) y(k) = 1 0 x(k) (19.6)
Guidelines for choosing αc(z) and αo(z) is obtained by combining the state feeed-
back controller designed in Example 11.1
1. Choose the roots of αc(z) to satisfy
with the state observer designed in Ex-
the performance specifications and
ample 16.1. In the controller, the true
actuator limitations.
state is replaced by the estimate from
2. Choose the roots of αo(z) faster (by
the full-order observer. Thus, the reg-
a factor of 2 to 4) so that the total re-
sponse is dominated by the response
of the poles in αc(z).
Dr Lee Peng Hin : EE6203 Computer Control Systems 209 Dr Lee Peng Hin : EE6203 Computer Control Systems 210
Hence,
Now we look at an example on the com-
1 0.0952
x(k + 1) = x(k) + bination of a reduced order observer
0 0.905
−0.02188 −0.00542 and state feedback controller.
x̄(k)
−0.4303 −0.1066 Example 19.2. The servo motor in Exam-
0.711 0.0898
x̄(k + 1) = x̄(k) + ple 2.1 is modeled as
−0.510 0.798
0.267 0 1 0.0952
x(k) x(k + 1) = x(k) +
0.0802 0 0 0.905
The closed-loop state equation is, 0.00484
u(k) (19.7)
x(k + 1) 0.0952
x̄(k + 1)
⎡ ⎤ y(k) = 1 0 x(k) (19.8)
1 0.0952 −0.02188 −0.00542
⎢ ⎥
⎢ 0 0.905 −0.4303 −0.1066 ⎥ x(k) We are measuring position x1(k) and
= ⎢
⎢ 0.267
⎥
⎣ 0 0.711 0.0898 ⎥
⎦ x̄(k)
0.0802 0 −0.510 0.798
will estimate velocity x2(k). As in Ex-
x(k) ample 11.1, the closed loop controller
= Acl
x̄(k)
characteristic equation (11.15) is cho-
The closed-loop poles are
sen to be
λi(Acl ) = 0.888 ± j0.173; 0.819; 0.819
αc(z) = z 2 − 1.776z + 0.819 = 0 (19.9)
Dr Lee Peng Hin : EE6203 Computer Control Systems 213 Dr Lee Peng Hin : EE6203 Computer Control Systems 214
observer equation, or
x̄(k + 1) = (A − LcCA)x̄(k)+
(B − LcCB)u(k) + Lcy(k + 1)
z X̄(z) = (A − LcCA)X̄(z)+
(B − LcCB)U (z) + LczY (z)
Dr Lee Peng Hin : EE6203 Computer Control Systems 223 Dr Lee Peng Hin : EE6203 Computer Control Systems 224
x(k + 1) = [A − BK]x(k)
+BKrr(k) (20.3)
y(k) = Cx(k) (20.4)
Dr Lee Peng Hin : EE6203 Computer Control Systems 225 Dr Lee Peng Hin : EE6203 Computer Control Systems 226
which gives
Y (z)
= C[zI − A + BK]−1BKr
R(z)
• Kr do not affect location of closed
loop poles.
21 Integral control
xI (k + 1) = xI (k) + e(k)
= xI (k) + Cx(k) − r(k)
x(k)
Define the new state vector as .
xI (k)
Then,
x(k + 1) A 0 x(k)
=
xI (k + 1) C 1 xI (k)
B 0
+ u(k) − r(k)
0 1
and
x(k)
u(k) = − K KI + KNxr(k)
xI (k)