Thematic Pat02

Thematic on control system design issues: discrete state space estimator design and analysis, caes study of Aircraft
tracking
Ecole Nationale Suprieure School Polytechnique Engineering
National Advanced of
Thematic on control system design issues: discrete state space estimator design and analysis, caes study of Aircraft tracking
DISCRETE STATE SPACE ESTIMATOR DESIGN AND ANALYSIS:
Classe: 5e Anne Gnie Electrique Rdig par :

TIOGO Patrick Arold
Sous la supervision de : Dr KALTJOB Patrick
Write by TIOGO Patrick Arold
Page 1
Premire et deuxime tape:
Bibliography of theory and problematic and challenge Theory/Methodology of solutioning
I.
Problem
State variable technique is to convert transfer function system representations into some first order difference equations (in a matrix form), which many advanced matrix theories and computational tools can be applied to. Thus, control system design using the state variable technique can be done in a very systematic fashion and many well-developed commercial software tools such as MATLAB can be readily and easily utilized. Solutions to the control problem can be done in a straightforward manner. Note that in the state feedback design, we have assumed the state variable x of the plant being available for feedback. Unfortunately, this is usually not the case in most practical situations. In real life, usually, we can only access to the system output, i.e., y, instead. In order to implement the beauty of the
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state feedback control, we will have no choice but to estimate the state variables using only the system output and hope the implementation using such an estimation works, which turns out indeed the case. As such, implementing a state feedback control through a state estimator becomes the standard approach in modern control nowadays. The first question one would ask is: Can we estimate the state variables using only system output? The answer is yes, fortunately, for most of systems and thus we will take it as doable for all situations considered in our class. The second question comes naturally: How can we estimate the state? The answer is again pretty simple copy or duplicate of the original dynamical equation. II. Bibliography
A. 3-1- What is the Observer
At each time k construct an estimate ^x (k) of the state x(k), by only measuring the output y(k) and input u(k). The copy is a numerical simulator ^x(k+1) = A^x(k) +Bu(k) reproducing the behavior of the real system. Then, the system that estimates the states of another system is called an observer.
B. 3-2- Why do we use observer
In real life, usually, we can only access to the system output, i.e., y, instead. In order to implement the beauty of the state feedback control, we will have no choice but to estimate the state
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variables using only the system output and hope the implementation using such an estimation works, which turns out indeed the case. Problem of online measurement: quantities of interest cannot be measured directly / inversion of measurement equation is difficult (ill posed) measurements are often taken at discrete time points desirable: time continuous measurements measurements may come with a time delay desirable: delay free measurement signal measurements are corrupted with noise desirable: noise free measurements
1.
Figure: State estimation by combining model information and measurement information(1)
_ Can x(t) be reconstructed uniquely from y(t)? observability _ How to dimension the correction term? design of the observer/filter
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B.
Common nomenclature (1)
II.
The notion of Observability Controllability: In order to be able to do whatever we want with the given dynamic system under control input, the system must be controllable. Observability: In order to see what is going on inside the system under observation, the system must be observable Observability of Discrete Systems : Consider a linear, time invariant, discrete-time system in the state space form: (5.1) with output measurements (5.2)
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The natural question to be asked is: can we learn everything about the dynamical behavior of the state space variables defined in (5.1) by using only information from the output measurements (5.2). If we know x0 , then the recursion (5.1) apparently gives us complete knowledge about the state variables at any discrete-time instant. Thus, the only thing that we have to determine from the state measurements is the initial state vector x(0)=x0. Since the n -dimensional vector x(0) has n unknown components, it is expected that n measurements are sufficient to determine x0. Take k=0,1,n-1 in (5.1) and (5.2), i.e. generate the following sequence:
We know from linear algebra that the system of linear algebraic equations with n unknowns, (5.4), has a unique solution if and only if the system matrix has rank n.
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The initial condition x0 is determined if the so-called observability matrix
Has rank n, that is
A.
3-3- How to design an observer
State space model of a discrete-time system (sampled by Ts [s]) x(t + Ts) = Ax(t) + Bu(t), x(0) = x0 y(t) = Cx(t) +Du(t)
1. open-loop state observer (estimator) (CHEN, C. T. 1998)
Build an artificial copy of the system, fed in parallel by with the same input signal u(k). The copy is a numerical simulator^x(k+1) = A^x(k)+Bu(k) reproducing the behavior of the real system .
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x(t + Ts) = Ax(t) + Bu(t) y(t) = Cx(t) +Du(t) The estimation error is x(k) = Ak(x(0)^x(0)). This is not ideal, because The dynamics of the estimation error are fixed by the eigenvalues of A and cannot be modified. The estimation error vanishes asymptotically if and only if A is asymptotically stable.
Figure: Open loop state observer

2. asymptotic state observer (estimator) (CHEN, C. T. 1998)
x(t + Ts) = Ax(t) + Bu(t) + L(y(t) y(t)) y(t) = Cx(t) +Du(t) State error ex = x(t) x(t)
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Figure : asymptotic state observer(D=0) For single input and single output observable system, there is a matrix L such that the eigenvalues of matrix A LC are arbitrary
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3.
Luenberger observer :
The dynamics of the state estimation error is
and then
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Same idea for continuous-time systems
B.
The dynamics of the state estimation error are
(3) Summary of control design procedure using estimator :
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I.
1. 2. 3.
References Otto-von-Guericke-Universitt Magdeburg SS 2011, State Estimation ,Michael Mangold CHEN, C. T. (1998), Linear System Theory and Design, 3rd edn, Oxford University Press.ISBN 0-195-11777-8. Automatic Control 1, State estimation and linear observers, Prof. Alberto Bemporad, University of Trento, Academic year 2010-2011 EE3304: Digital Control Systems (Part 2), Ben M. Chen, Associate Professor, Department of Electrical & Computer Engineering, The National University of Singapore
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4.
Jirka Roubal, roubalj@control.felk.cvut.cz, Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague 6. MASSACHUSETTS INSTITUTE OF TECHNOLOGY, DEPARTMENT OF MECHANICAL ENGINEERING, 2.151 Advanced System Dynamics and Control 7. Franklin, G.F., Powell, J. D., Workman, M.L. Digital Control of Dynamic Systems (3rd Ed.), Addison Wesley 8. Philips, C.L., Nagle, H.T. Digital Control System Analysis and Design (2nd Ed.), Prentice Hall 9. Astrom, K.J., Wittenmark, B. Computer-Controlled Systems, Prentice Hall 10. Automatique, Dynamique et Contrle des Systmes, David VISSIERE SYSNAV Navigation Solutions, Amphi 8, 10 dcembre 2010
5.
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Thematic on control system design issues: discrete state space estimator design and analysis, caes study of Aircraft

Ecole Nationale Suprieure School Polytechnique Engineering

DISCRETE STATE SPACE ESTIMATOR DESIGN AND ANALYSIS:

Classe: 5e Anne Gnie Electrique Rdig par :

Sous la supervision de : Dr KALTJOB Patrick

Write by TIOGO Patrick Arold

Premire et deuxime tape:

Bibliography of theory and problematic and challenge Theory/Methodology of solutioning

Figure: State estimation by combining model information and measurement information(1)

Write by TIOGO Patrick Arold

Common nomenclature (1)

Write by TIOGO Patrick Arold

Write by TIOGO Patrick Arold

The initial condition x0 is determined if the so-called observability matrix

Has rank n, that is

3-3- How to design an observer

Write by TIOGO Patrick Arold

Figure: Open loop state observer

Write by TIOGO Patrick Arold

Write by TIOGO Patrick Arold

The dynamics of the state estimation error is

Write by TIOGO Patrick Arold

Same idea for continuous-time systems

The dynamics of the state estimation error are

(3) Summary of control design procedure using estimator :

Write by TIOGO Patrick Arold

Write by TIOGO Patrick Arold

Write by TIOGO Patrick Arold

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