lesson 3 (observer design)
DESCRIPTION
controller designTRANSCRIPT
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Observer Design Techniques
Dr. Muhammad Bilal Kadri
State Observers (Open Loop Arrangement)
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Problem with open loop arrangement
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Closed Loop Arrangement
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Error Driver
06-Feb-15 Dr. M Bilal Kadri, PAF-KIET 6
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Methods for Calculating Observer Gain : Method # 1
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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
06-Feb-15 Dr. M Bilal Kadri, PAF-KIET 18
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Simulink Block Diagram (Full Order Observer-Closed Loop Config)
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Actual and Estimated States
06-Feb-15 Dr. M Bilal Kadri, PAF-KIET 20
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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
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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 u ua a u a aa a a au ux t A x t A x t B u t L x t A x t B u t A x t
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06-Feb-15 Dr. M Bilal Kadri, PAF-KIET 35
( ) ( ) ( ) ( )( )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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