Lecture – 22

Pole Placement Observer Design

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Necessity and Philosophy of

Observer Design

In practice all the state variables are not
available for feedback. Possible reasons include:
• Non-Availability of sensors
• Expensive sensors
• Available sensors are not acceptable (due to high
noise, high power consumption etc.)

A state observer estimates the state variables
based on the measurements of the output over a
period of time.

The system should be “observable”.
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State Observer Block Diagram

Plant

State observer

Ref: K. Ogata: Modern Control

Engineering, 3rd Ed., Prentice
Hall, 1999

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Observer Design: Concepts

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 Observer Design: Concepts

This leads to:

Error dynamics:

Observer dynamics

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Observer Design: Full Order

Goal: Obtain gain Ke such Necessary and
that the error dynamics are sufficient condition for
asymptotically stable with the existence of Ke :
sufficient speed of
The system should be
response.
completely observable!

ÃT =AT – CTKeT. Hence the

problem here becomes the
same as the pole
placement problem!

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 Comparison with Pole
Placement Design
Controller Design Observer Design

Dynamics
Dynamics

Objective
Objective

Notice that

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Observer Design as a Dual

Problem

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 Observer Design: Method – 1

For systems of low order (n ≤ 3)

Check Observability

Define Ke = [k1 k2 k3]T

Substitute this gain in the desired characteristic

polynomial equation

Solve for the gain elements by equating the like

powers on both sides

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Observer Design: Method – 2

Step:1

Step:2

Step:3

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Observer Design: Method – 2

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Observer Design: Method – 3

Ackerman’s Formula

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 Example: Observer Design

Step : 1

Step : 2

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Example: Observer Design

Step : 3

Step : 4

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 Separation Principle

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Separation Principle

Hence Observer design and

Pole placement are
independent of each other!
This is known as “Separation
Theorem”.
Poles due to Poles due to
controller Observer
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Closed Loop System

Ref: K. Ogata:
Modern Control
Engineering, 3rd
Ed., Prentice Hall,
1999

Fig: Observed State feedback Control System

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References

K. Ogata: Modern Control Engineering,

3rd Ed., Prentice Hall, 1999.

B. Friedland: Control System Design,

McGraw Hill, 1986.

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