Advanced
Control Systems
(ACS)
Dr. K Dhananjay Rao
Professor (Assistant)
Department of Electrical and Electronics Engineering
VR Siddhartha Engineering College (Autonomous)
Vijayawada, India
Department of EEE, VRSEC 1
UNIT - I
State Variable Analysis: State Space Representation, solution of state
equation, state transition matrix, controllable canonical form, observable
canonical form, Jordan canonical form, controllability and observability,
effect of state feedback on controllability and observability.
Design in state space: Design of state feedback control through pole
placement, full order observer and reduced order observer.
UNIT-2
Introduction to Non-Linear Systems: Introduction, features of linear
and nonlinear systems, types of nonlinearities, common physical
nonlinearities in control systems-relay, dead zone, saturation, friction,
backlash, hysteresis.
Describing Function Analysis: Describing function fundamentals,
describing functions of common nonlinearities, describing function
analysis of nonlinear systems, limit cycles, stability of oscillations.
Department of EEE, VRSEC 2
MATLAB
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Department of EEE, VRSEC 4
Observers
Or
State Estimators
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Introduction
• In the pole-placement approach to the design of control
systems, we assumed that all state variables are available for
feedback.
• In practice, however, not all state variables are available for
feedback.
• Then we need to estimate unavailable state variables.
Introduction
• Estimation of unmeasurable state variables is commonly
called observation.
• A device (or a computer program) that estimates or observes
the state variables is called a state estimator, state observer,
or simply an observer.
• There are two types of state observers
– Full Order State Observer
• If the state observer observes all state variables of the system,
regardless of whether some state variables are available for
direct measurement, it is called a full-order state observer.
– Reduced Order State Observer
• If the state observer observes only those state variables which are not
available for direct measurement, it is called a reduced-order state
observer.
Types of Observers/State Estimators
Full Order Observer:
If the state observer estimates all the state variables, regardless of
whether some are available for direct measurements or not, it is
called a full order observer.
Reduced Order Observer:
An observer that estimates fewer than “n” states of the system is
called reduced order observer.
Minimum Order Observer:
If the order of the observer is minimum possible then it is called
minimum order observer
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State Observer
• A state observer estimates the state variables based on the
measurements of the output and control variables.
• Here the concept of observability plays an important role.
• State observers can be designed if and only if the observability
condition is satisfied.
Observer Block Diagram (Full order)
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MATLAB Simulink Implementation
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Full Order State Observer
• The order of the state observer that will be discussed here is
the same as that of the plant.
• Consider the plant define by following equations
𝒙ሶ = 𝑨𝒙 + 𝑩𝑢 (1)
𝑦 = 𝑪𝒙
• Equation of state observer is given as
ሶ = 𝑨
𝒙 𝒙 + 𝑩𝑢 + 𝑲𝑒 (𝑦 − 𝑪
𝒙) (2)
• To obtain the observer error equation, let us subtract
Equation (2) from Equation (1):
ሶ = 𝑨𝒙 + 𝑩𝑢 − [𝑨
𝒙ሶ − 𝒙 𝒙 + 𝑩𝑢 + 𝑲𝑒 𝑦 − 𝑪𝒙 ]
ሶ = 𝑨𝒙 + 𝑩𝑢 − 𝑨
𝒙ሶ − 𝒙 𝒙 − 𝑩𝑢 − 𝑲𝑒 𝑪𝒙 − 𝑪
𝒙
Full Order State Observer
ሶ = 𝑨𝒙 + 𝑩𝑢 − 𝑨
𝒙ሶ − 𝒙 𝒙 − 𝑩𝑢 − 𝑲𝑒 𝑪𝒙 − 𝑪
𝒙
• Simplifications in above equation yields
ሶ = 𝑨(𝒙 − 𝒙
𝒙ሶ − 𝒙 ) − 𝑲𝑒 𝑪 𝒙 − 𝒙
(3)
• Define the difference between 𝒙 and 𝒙
as the error vector e.
𝒆=𝒙−𝒙
• Equation (3) can now be written as
𝒆ሶ = 𝑨𝒆 − 𝑲𝑒 𝑪𝒆
𝒆ሶ = (𝑨 − 𝑲𝑒 𝑪)𝒆
Full Order State Observer
𝒆ሶ = (𝑨 − 𝑲𝒆 𝑪)𝒆
• From above equation, we see that the dynamic behavior of the error
vector is determined by the eigenvalues of matrix A-KeC.
• If matrix A-KeC is a stable matrix, the error vector will converge to
zero for any initial error vector e(0).
• That is, 𝒙
(𝒕) will converge to 𝒙(𝒕) regardless of the values of x(0).
• And if the eigenvalues of matrix A-KeC are chosen in such a way
that the dynamic behavior of the error vector is asymptotically stable
and is adequately fast, then any error vector will tend to zero (the
origin) with an adequate speed.
