《MATLAB语言与系统仿真》Module25-13.ppt

Problem Problem Problem Problem Module 25 The Concept of the observer The Condition of Constructing a observer Design of a observer To construct a model of the system under study Select observer poles at： The sufficient and necessary condition of constructing a state variable observer Steps to design an observer Verify the condition under which an observer can exist Set the gain matrix K Let det[sI-(A-KC)] equal to the characteristic equation of observer Calculate the values of K SP 25.1 (P557) A system is described by the state-space equations: Example Instructional objectives: At the end of this lecture students should be able to Identify the Condition of Constructing the observer of a system. Design the n-dimension state observer of a system. Example State variables feedback G how to get ess=0 Problem in state feedback 1. Write the transfer function of this system. 2. Comment the stability of the system. 3. Find a feedback vector to make the system poles be -1, -1; and have zero error for e(t) = r(t) – c(t), where r(t) is unit step input. 4. Draw a block-diagram of control system to show the construction of your controller. State variables feedback G how to get x Problem in state feedback If not all of the state variable are available from which the feedback control signal may be derived because of: some of the state variable do not correspond to physical variables and cannot be measured; the prohibitive cost in providing a sensor for each state variable. Q1：Can we assume the state variable x ? G how to get x Problem in state feedback Q2：If we can, How to reject the error of between the estimated x and x? Q3：How to select new poles? Q4：What is the conditions to realize?? Q5：How to design??? State – Space Observer Design u y y Origin system System model Q1：Can we assume x ? Now, we construct a model to simulate the origin system , and assume the parameter matrix are good approximat