Modern Control: Tutorial #12

Modern Control
Tutorial #12
Reduced Order Observers
ROOs
Faculty of Engineering and Material Science

GUC Department of Mechatronics Modern Control MCTR 702
Dr. Ayman Ali El-Badawy
Tutorial #12 Reduced Order Observers
Last time, we did Observer-Based Compensation using full order

observer (FOO).
All we need to do here is to

find the state feed back
gain matrix K, as well as
the full order observer
gain matrix L
GUC Faculty of Engineering and Material Science

Department of Mechatronics
Modern Control MCTR 702
Problem 1:
Consider the system represented by the shown state space model, Design a full
order observer-based state feedback control law to achieve 1 sec settling time,
4.5% overshoot.
0 1 0 0 
A   0 0 1 , B  0, C  1 1 1
 1  1  1 1
Solution:
First, we find the state feedback gain matrix K
 / 1 2
M p  4.5%  e    0.707
4.6
Ts  1.0    n  5.75 & n  6.51
 n
1, 2  - 4.6  4.6i
Dsired Characteristic Equation  (s) :
(s2  2 n s  n )(s  23)   (s)  s 3  32.2s2  253.93s  973.65
2
Note that, the additional pole is about 5 times the real part of the pair of interest.

The open loop system characteristic equation can be easily constructed
because the system is in the CCF.
a( s)  s 3  s 2  s  1
Since the state space realization given is in the CCF, we can find the
state feed back gain K using Bass-Gura formula:
K  973.65- 1 253.93- 1 32.2 - 1

 972.65 252.93 31.2
second, we find the observer gain matrix L
Using Ackermann’s Formula

We will place the observer closed loop poles to be 3 times faster than the fastest
component in the closed loop system (the most left pole at -23). Thus we will place
them at -69,-70,and -71. Then the observer closed loop (desired) characteristic
equation is:
 ( s )  ( s  69)(s  70)(s  71)
 s 3  210s 2  14699s  342930
 ( A)  A3  210A2  14699A  342930I
342929 14698 209 
  - 209 342720 14489 
 - 14489 - 14698 328231
0  - 14489 
L   ( A)Q 1 0  - 328231
1  342929 
END OF DESIGN PROCESS

AND HERE IS THE CLOSED LOOP SYSTEM

Reduced Order Observer (ROO)

Then use the A22 , A12 pair as A, C matrices respectively to
design a full order observer for the reduced system using
Ackermann or Bass-Gura.

Problem 2:
Consider the system represented by the shown state space model. Design a
reduced order observer-based state feedback control law to achieve 1 sec
settling time, 4.5% overshoot.
0 1 0 0 
A   0 0 1 , B  0, C  1 1 1
 1  1  1 1
Solution:
First, we find the state feedback gain matrix gain K
(exactly the same as problem #1)
 / 1 2
M p  4.5%  e    0.707
4.6
Ts  1.0    n  5.75 & n  6.51
 n
1, 2  - 4.6  4.6i
Dsired Characteristic Equation  (s) :
(s2  2 n s  n )(s  23)   (s)  s 3  32.2s2  253.93s  973.65
2
Note that, the additional pole is about 5 times the real part of the pair of interest.

The open loop system characteristic equation can be easily constructed
a( s)  s 3  s 2  s  1
Since the state space realization given is in the CCF, we can find the
state feed back gain K using Bass-Gura formula:
K  973.65- 1 253.93- 1 32.2 - 1

 972.65 252.93 31.2

second, we find the observer gain matrix. Here, the observer is a reduced
order observer.
0 1 0 0 
A   0 0 1 , B  0, C  1 1 1
 1  1  1 1
For the reduced order observer,
C 
W   Where R contains independent vectors
 R
1 1 1 1  1  1
C  
W     0 1 0 & V  W 1  0 1 0 
 R  0 0 1  0 0 1 
 

Then use this V as a similarity transformation matrix:
 1 1 1 1
A  V 1 AV   0 0 1, B  V 1 B  0, C  CV  1 0 0
 1 0 0 1
A11   1, A12  1 1
0 0 1 
A21   , A22   
 1  0 0 

Then use the A22 , A12 pair as A, C matrices respectively to design full order observer
for the reduced system using Ackermann or Bass-Gura. We will use Ackermann in
this problem:
 C   A12  1 1
Q    
   12 22  
CA A A 0 1
We will place the observer closed loop poles to be 3 times faster than the fastest
component in the closed loop system (the most left pole at 23). Thus we will place
them at -69,-69. Then the observer closed loop (desired) characteristic equation is:
 ( s)  ( s  69) 2  s 2  138s  4761

4761 138 
 ( A22 )  A22  138A22  4761I  
2

 0 4761
1 0  4623
L   ( A22 )Q     
  
1 4761   xˆ1 
Then the control law is given by: u  kxˆ  r  972.65 252.93 31.2 xˆ2   r
 
 xˆ3 

Problem 3:
Consider the system represented by the shown state space model. Design a
reduced order observer-based state feedback control law. Given the following
eigenvalues to be placed by state feedback.
 0.5  0.866i  0.5  0.866i  1

 0 1 0 0 
A   0 0 1 , B  0, C  1 0 0
 4  4  1 1
First, we find the state feedback gain matrix gain K
Desired Characteristic Equation :

 ( s)  s 3  2s2  2s  1
The open loop system characteristic equation, which can be easily constructed
a( s)  s 3  s 2  4s  4
Using Bass-Gura:
K  K CCF  1-4 2-4 2-1  -3 -2 1
second, we find the observer gain matrix. Here, the observer is a reduced
order observer.
For the minimum order observer:
C 
W  
 R
Note that: Here, C matrix is
1 0 0 1 0 0 given in the form required for
C  
W     0 1 0 & V  W 1  0 1 0
a reduced order observer.
This is why the V matrix is an
 R  0 0 1  0 0 1 Identity one
 
Then use this V as a similarity transformation matrix:

0 1 0 0 
A  V 1 AV   0 0 1 , B  V 1 B  0
 4  4  1 1
A11  0, A12  1 0
0 0 1
A21   , A22   
 4   4  1
Then use the A22 , A12 pair as A, C matrices respectively to design full order observer
for the reduced system using Ackermann or Bass-Gura. We will use Ackermann in
this problem:

 C   A12  1 0
Q    
CA  A12 A22  0 1
We will place the observer closed loop poles to be 5 times faster than the
fastest component in the closed loop system (the most left pole at -1). Thus
we will place them at {-5,-5}. Then the observer closed loop (desired)
characteristic equation is:
 ( s)  ( s  5) 2  s 2  10s  25
 21 9 
 ( A22 )  A22  10 A22  25I  
2

  36 12
1 0 9
L   ( A22 )Q     
1 12

The resulting closed loop system:
 x   A  BK (V1  V2 L )C  BKV2   x 
 z     
  [ Aclo L  ( A21  L A11 )  B clo K (V1  V2 L )]C Aclo  B clo KV2   z 
 B 
 r
 B clo 
where
Aclo  ( A22  L A12 )
B clo  ( B2  L B1 )
And the output equation is
 x
y  [C 0] 
z
For problem #3, we have

ROO {-5,-5}
FOO


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Modern Control

Faculty of Engineering and Material Science

Last time, we did Observer-Based Compensation using full order

All we need to do here is to

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

K  973.65- 1 253.93- 1 32.2 - 1

GUC Faculty of Engineering and Material Science

END OF DESIGN PROCESS

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

K  973.65- 1 253.93- 1 32.2 - 1

GUC Faculty of Engineering and Material Science

For the reduced order observer,

GUC Faculty of Engineering and Material Science

A11   1, A12  1 1

GUC Faculty of Engineering and Material Science

 ( s)  ( s  69) 2  s 2  138s  4761

GUC Faculty of Engineering and Material Science

 0.5  0.866i  0.5  0.866i  1

First, we find the state feedback gain matrix gain K

Desired Characteristic Equation :

K  K CCF  1-4 2-4 2-1  -3 -2 1

For the minimum order observer:

Then use this V as a similarity transformation matrix:

GUC Faculty of Engineering and Material Science

A11  0, A12  1 0

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

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