电子社现代控制理论基础（英文版）（第2版）mooc课件6-4.pptx

L6.4 Feedback System with State ObserverSeparation PropertyConsider a controllable and observable n-dimensional systemThe state observer isThe state feedback control law isState feedback system with full dimensional observer is shown as:(1) The state feedback matrix is designed with respect to the actual state, will it give the same result if the estimated state is used in the feedback?L6.4 Feedback System with State ObserverReal systemSeparation PropertyBCState feedbackAKBCState observerAH(2) Will the eigenvalues of the state observer appear in the entire system without any change?L6.4 Feedback System with State ObserverSeparation PropertyThe state feedback system with full-dimensional observer is a 2n-dimensional systemL6.4 Feedback System with State ObserverSeparation PropertyIntroducing the following nonsingular transformationAnd considering the error state equationWe haveL6.4 Feedback System with State ObserverSeparation PropertyThe transfer function of the overall system isAccording to the following equationNote: The transfer function of the state feedback system with state observer is the same as the state feedback system with the actual state. So we can use in stead of .L6.4 Feedback System with State ObserverSeparation PropertyThe transfer function becomesThe characteristic polynomial of the overall system isThe eigenvalues of the overall system is consisted of the eigenvalues of the state feedback subsystem and the eigenvalues of the state observer.L6.4 Feedback System with State ObserverSeparation PropertyNote: The design of state feedback and the design of state observer can be carried out independently.Design the state feedback to assign the poles of the closed-loop system at .L6.4 Feedback System with State ObserverSeparation PropertyExample:Consider the following control system described by the transfer function.Design the full-dimensional and reduced-dimensional state observer to perform the state feedback. The poles of t