电子社现代控制理论基础（英文版）（第2版）mooc课件6-3-2.pptx

In fact, because the output already gives certain information of the state variables, the dimension of the state observer can actually less than the number of the state variables n. ;;Consider the n-dimensional system described by ;yields ;It can be proved that ;The subsystem is;The subsystem is;;Finally the estimated state vector is given by ;The equation of the error vector is as following:;Consider the system given by;Check observability as follows:; The system transformed by is;The reduced order observer can be determined as;and ;The estimated states are composed of two parts:;Here, the state feedback can use the estimate to replace . The relationship between and the output of original system can be derived as follows. According to the system dynamics of the original systems, one has