COMPENSATOR DESIGN

Bushra Tahir
Compensator Design: Combined
Control Law and Estimator
• Implement the control law by using the estimated state-
variables
• This design is complete for a regulator that is able to
reject disturbances but has no external reference input to
track.

• Control law was designed for feedback of the actual (not

the estimated) state
𝑢 = −𝐾𝑥ො
Effect using 𝑥Ƹ in place of 𝑥 has on the
system dynamics
• The plant equation with feedback

• rewritten in terms of the state error as

• The overall system dynamics in state form (plant +

estimator error)
Effect using 𝑥Ƹ in place of 𝑥 has on the
system dynamics
• The characteristic equation of this closed-loop system

• The set of poles of the combined system consists of the

union of the control poles and the estimator poles.
• The designs of the control law and the estimator can be carried out
independently.
• Yet when they are used together in this way, the poles remain
unchanged
Effect using 𝑥Ƹ in place of 𝑥 has on the
system dynamics
Estimator and controller mechanization
Effect using 𝑥Ƹ in place of 𝑥 has on the
system dynamics
• State equation for this compensator is obtained by
including the feedback law

• characteristic equation of the compensator

• The transfer function from y to u representing the dynamic

compensator
Example: Full order Compensator Design
for Satellite Attitude Control (Assignment)
• Design a compensator using pole placement for the
1
satellite plant with transfer function 𝑠2 . Place the control
poles at s = -0.707 ± 0.707j (𝜔𝑛 = 1 rad/sec, ξ = 0. 707)
and place the estimator poles at 𝜔𝑛 = 5 rad/sec and
ξ=0.5.
Example: Full order Compensator Design
for Satellite Attitude Control
• Desired controller characteristics polynomial

• Corresponding state feedback gain

• Desired estimation error characteristics polynomial

• The estimator feedback-gain matrix

Example: Full order Compensator Design
for Satellite Attitude Control
• Compensator transfer function