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To design a Simulink library block that automatically generates a Full Order Observer for a given linear dynamical system Desired Characteristics:
Agenda
What is a Full Order Observer? Overview of Linear Dynamical Systems Library Block Concept Design of the Observer Simulink Implementation A Simple Example A More Complex Example Questions
A mathematical model of the entire dynamical system An estimator of the unmeasurable states
MIMO
y1 . . . ym
system attributes The minimum number of measurements needed Not always consistent
Systems in Simulink
A series of function blocks Connected like a circuit Used to model dynamical systems
Example system
Inputs
Outputs
Simulink Implementation
Design Tasks
Simulink Implementation
Simulink Implementation
Observer user interface Requires limited knowledge of observer design by the user
Simulink Implementation
Validation of user input A must be square B must have same number of rows as A C is assumed to be of the form [1 0 0 0] K must be the same length as C
Simulink Implementation
Simulink Implementation
Simulink Implementation
Block inputs
Block outputs
A Simple Example
A Simple Example
A Simple Example
Summary
Saves the modern control designer (or student) time Reduces the pain and suffering inherent in the design for higher order systems
References
Dorf, R.C. and Bishop, R.H.,Modern Control Systems, Tenth Edition, New Jersey:Pearson, Prentice Hall Publishing, 2004 Johnson, C.D., Stabilization of Linear Dynamical Systems with Respect to Arbitrary Linear Subspaces, Journal of Mathematical Analysis and Applications, Vol. 44 (1973), No. 1, pp. 175-185 Johnson, C.D., A Unified Canonical Form For Controllable and Uncontrollable Linear Dynamical Systems, International Journal of Control, Vol. 13 (1971), No. 3, pp. 497-517 Kalman, R.E., Mathematical Description of Linear Dynamical Systems, SIAM Journal of Controls, Vol. 1 (1963), pp. 152-192 Kautsky, J. and N.K. Nichols, "Robust Pole Assignment in Linear State Feedback," International Journal of Control, Vol. 41 (1985), pp. 1129-1155 Kolman, B and Hill, D.R., Linear Algebra With Applications, Seventh Edition, New Jersey:PearsonPrentice Hall Publishing, 2001
Questions?