2.

- An error analysis of an internal navigator leads to the following set of normalized state
equations:

1 0 1 0 1 0

[[ 2 ] = [1 0 1] [2 ] + [0] ]
3 10 0 0 3 1

Where

1 =

2 =

3 =

Design a reduced-order estimator with = 1 as the measurement, and place the observer error
poles at -0.1 and -0.1. Be sure to provide all the relevant estimator equations.

[ ]=[ ]+ [ ]


= [1 0] [ ]

Since our matrix is of dimensions 3 * 3 and the measure is in x1, then we have the following

1 0 1 0 1 0

[ 2 ] = [1 0
1] [ 2 ] + [0]
3 0 0 0 3 1
1
= [1 0 0] [2 ]
3

We separate each term

= 0

= [1 0]

1
= [ ]

0 1
= [ ]
0 0

We get the characteristic equation from

 1 0 0 1
| | = | [ ][ ]|
0 1 0 0

0 0 1
| | = |[ ][ ]| = [, 1][ , 0]
0 0 0

| | = 2 ( )

1=0

2=0

1 1 0 1
=[ ]=[ ]
1 0 1 0