Module 9: State Estimation

Lectures and Content

Folder description

Please click the folder link above to access the Module 9 instructional content. Module 9 contains five video lectures that present the following topics:

Introduction to State Estimation (9A)
Principle of Duality (9B)
State Estimation Fundamentals (9C)
Full-Order State Observers (9D)
Design of Prediction Observers (9E)

Technical

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Module at a Glance ObjectivesHow to Complete This Module:

Cell description

Objectives

By the end of this module, you will be able to:

Review and evaluate the necessary and sufficient conditions for full-state observability
Explain and apply the fundamentals of the Principle of Duality
Describe the topology of a state-estimator and describe the behavior of the error dynamics
Describe the conditions required for arbitrary placement of state-estimator poles and design appropriate gains

How to Complete This Module:

Read Chapter 6.3 – 6.4 from Ogata 2nd Edition
View “Introduction to State Estimation” (module 9A video)
Read Chapter 6-6 (up to pg 442) from Ogata 2nd Edition
View “Principle of Duality” (module 9B video)
View “State Estimation Fundamentals” (module 9C video)
View “Full-Order State Observers” (module 9D video)
View “Design of Prediction Observers” (module 9E video)
Participate in the module discussions
Complete the module assignment

Technical

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Readings

Cell description

This weeks readings include the following:

Ogata,K. (1995). Discrete-Time Control Systems (2nd Edition). Upper Saddle River, New Jersey. Prentice Hall.

Chapter 6.3 - 6.4
Chapter 6.6 (up to pg 442

Urbant, T. (2016) Digital Control and System Applications

Module 9A – Handouts
Module 9B – Handouts
Module 9C – Handouts
Module 9D – Handouts
Module 9E – Handouts

Technical

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Prentice Hall.</p> \n <table summary=\"Discrete-Time Control Text graphic\" border=\"0\"> \n  <tbody> \n   <tr> \n    <td class=\"nowrapCell\"><span class=\"axScoreIndicator axVtbeEmbedded image\"><span data-ally-scoreindicator=\"_103909318_2\"></span></span>\n<img src=\"https://blackboard.jhu.edu/bbcswebdav/pid-9946502-dt-content-rid-103909318_2/xid-103909318_2\" alt=\"Discrete-Time Control Systems Textbook\" title=\"Discrete-Time Control Systems Textbook\" width=\"92\" height=\"119\"> \n<span class=\"contextMenuContainer image\" style=\" display: inline;\" bb:menugeneratorurl=\"/webapps/cmsmain/webui/courses/EN.535.645.81.SU21/Screen%20Shot%202016-09-29%20at%208.36.15%20AM.png?action=details&amp;subaction=generateFileMenuItem&amp;uniq=vd00e4&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_a3613943280e4c5e9fafb3a5805de78d,open_with_browser_a3613943280e4c5e9fafb3a5805de78d,open_with_bbdrive_a3613943280e4c5e9fafb3a5805de78d,openWebId_a3613943280e4c5e9fafb3a5805de78d,view360Id_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,ax-ally-placeholder_a3613943280e4c5e9fafb3a5805de78d,ax-ally-markForAxAnalysis_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,content_settings_a3613943280e4c5e9fafb3a5805de78d,content_editSettings_a3613943280e4c5e9fafb3a5805de78d,content_edit_a3613943280e4c5e9fafb3a5805de78d,properties_folder_a3613943280e4c5e9fafb3a5805de78d,itemcarot_managerecord_a3613943280e4c5e9fafb3a5805de78d,comments_tool_a3613943280e4c5e9fafb3a5805de78d,subscriptions_list_a3613943280e4c5e9fafb3a5805de78d,content_readfile_a3613943280e4c5e9fafb3a5805de78d,content_overwrite_a3613943280e4c5e9fafb3a5805de78d,passes_tool_a3613943280e4c5e9fafb3a5805de78d,permissions_tool_a3613943280e4c5e9fafb3a5805de78d,content_add_alignment_a3613943280e4c5e9fafb3a5805de78d,content_tracking_a3613943280e4c5e9fafb3a5805de78d,content_versions_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,bookmarkId_a3613943280e4c5e9fafb3a5805de78d,itemsId_a3613943280e4c5e9fafb3a5805de78d,packagesId_a3613943280e4c5e9fafb3a5805de78d,emailId_a3613943280e4c5e9fafb3a5805de78d,removeContentFolderId_a3613943280e4c5e9fafb3a5805de78d,*separator*,copyContentId_a3613943280e4c5e9fafb3a5805de78d,moveContentId_a3613943280e4c5e9fafb3a5805de78d,*separator*,removeContentId_a3613943280e4c5e9fafb3a5805de78d,*separator*,Metadata_General_a3613943280e4c5e9fafb3a5805de78d,Metadata_Dublin_Core_a3613943280e4c5e9fafb3a5805de78d,Metadata_IMS_a3613943280e4c5e9fafb3a5805de78d,Metadata_Full_IMS_a3613943280e4c5e9fafb3a5805de78d,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_a3613943280e4c5e9fafb3a5805de78d\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_a3613943280e4c5e9fafb3a5805de78d',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_a3613943280e4c5e9fafb3a5805de78d',true);\" class=\"cmimg editmode jsInit   cmimg-hide\" href=\"#contextMenu\" title=\"Click for more options\"> <img src=\"/images/ci/icons/cmlink_generic.gif\" alt=\"Click for more options\" onload=\"page.ContextMenu.LI(event, 'cmdiv_a3613943280e4c5e9fafb3a5805de78d',true);\"></a> \n  </span> \n<input type=\"hidden\" name=\"103909318_2_fileReadWritePermAvl\" id=\"103909318_2_fileReadWritePermAvl\" value=\"false\"> \n<script type=\"text/javascript\" src=\"/javascript/cdn.js\"></script> \n<script type=\"text/javascript\" src=\"/groupjs/FF147D720E72E17F96127A7085584389.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\" src=\"/webapps/cmsmain/dirlistrightframe/dirlist.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\" src=\"/webapps/cmsmain/static/bbDriveUtil.js?v=3800.0.9-rel.16+8f8c3e7\"></script> \n<script type=\"text/javascript\">\n    (function(){\n     var f = function(){\n           if ( window.DWREngine )\n      {\n       if( DWREngine._batch )\n       {\n      \t try {DWREngine.endBatch();} catch(ignore) {}\n       }\n       try {DWREngine.beginBatch();} catch(ignore) {}\n      } \n             page.ContextMenu.hideMenuDiv('a3613943280e4c5e9fafb3a5805de78d');\n            if ( window.DWREngine )\n      {\n        try {DWREngine.endBatch();} catch(ignore) {}\n      }\n               };\n     var f2 = function()\n     {\n       if ( page.isLoaded )\n       {\n         f();\n       }\n       else\n       {\n         setTimeout( f2, 500 );\n       }\n     }\n     f2();\n    })();\n   </script></td> \n    <td> \n     <ul> \n      <li>Chapter 6.3 - 6.4</li> \n      <li>Chapter 6.6 (up to pg 442</li> \n     </ul> </td> \n   </tr> \n  </tbody> \n </table> \n <br> \n <p>&nbsp; Urbant, T. (2016) Digital Control and System Applications</p> \n <ul> \n  <li>Module 9A – Handouts</li> \n  <li>Module 9B – Handouts</li> \n  <li>Module 9C – Handouts</li> \n  <li>Module 9D – Handouts</li> \n  <li>Module 9E – Handouts</li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9946502_1previewModule\" class=\"moduleSample\">\n </div>\n",
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        "body": "\n    <div> \n <p>This weeks readings include the following:</p> \n <p>Ogata,K. (1995). Discrete-Time Control Systems (2nd Edition). Upper Saddle River, New Jersey. Prentice Hall.</p> \n <table summary=\"Discrete-Time Control Text graphic\" border=\"0\"> \n  <tbody> \n   <tr> \n    <td>\n \n<span bb:menugeneratorurl=\"/webapps/cmsmain/webui/courses/EN.535.645.81.SU21/Screen%20Shot%202016-09-29%20at%208.36.15%20AM.png?action=details&amp;subaction=generateFileMenuItem&amp;uniq=vd00e4&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_a3613943280e4c5e9fafb3a5805de78d,open_with_browser_a3613943280e4c5e9fafb3a5805de78d,open_with_bbdrive_a3613943280e4c5e9fafb3a5805de78d,openWebId_a3613943280e4c5e9fafb3a5805de78d,view360Id_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,ax-ally-placeholder_a3613943280e4c5e9fafb3a5805de78d,ax-ally-markForAxAnalysis_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,content_settings_a3613943280e4c5e9fafb3a5805de78d,content_editSettings_a3613943280e4c5e9fafb3a5805de78d,content_edit_a3613943280e4c5e9fafb3a5805de78d,properties_folder_a3613943280e4c5e9fafb3a5805de78d,itemcarot_managerecord_a3613943280e4c5e9fafb3a5805de78d,comments_tool_a3613943280e4c5e9fafb3a5805de78d,subscriptions_list_a3613943280e4c5e9fafb3a5805de78d,content_readfile_a3613943280e4c5e9fafb3a5805de78d,content_overwrite_a3613943280e4c5e9fafb3a5805de78d,passes_tool_a3613943280e4c5e9fafb3a5805de78d,permissions_tool_a3613943280e4c5e9fafb3a5805de78d,content_add_alignment_a3613943280e4c5e9fafb3a5805de78d,content_tracking_a3613943280e4c5e9fafb3a5805de78d,content_versions_a3613943280e4c5e9fafb3a5805de78d,*separator*,*separator*,bookmarkId_a3613943280e4c5e9fafb3a5805de78d,itemsId_a3613943280e4c5e9fafb3a5805de78d,packagesId_a3613943280e4c5e9fafb3a5805de78d,emailId_a3613943280e4c5e9fafb3a5805de78d,removeContentFolderId_a3613943280e4c5e9fafb3a5805de78d,*separator*,copyContentId_a3613943280e4c5e9fafb3a5805de78d,moveContentId_a3613943280e4c5e9fafb3a5805de78d,*separator*,removeContentId_a3613943280e4c5e9fafb3a5805de78d,*separator*,Metadata_General_a3613943280e4c5e9fafb3a5805de78d,Metadata_Dublin_Core_a3613943280e4c5e9fafb3a5805de78d,Metadata_IMS_a3613943280e4c5e9fafb3a5805de78d,Metadata_Full_IMS_a3613943280e4c5e9fafb3a5805de78d,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_a3613943280e4c5e9fafb3a5805de78d\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_a3613943280e4c5e9fafb3a5805de78d',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_a3613943280e4c5e9fafb3a5805de78d',true);\" href=\"#contextMenu\" title=\"Click for more options\"> </a> \n  </span> \n \n \n \n \n \n</td> \n    <td> \n     <ul> \n      <li>Chapter 6.3 - 6.4</li> \n      <li>Chapter 6.6 (up to pg 442</li> \n     </ul> </td> \n   </tr> \n  </tbody> \n </table> \n  \n <p>&nbsp; Urbant, T. (2016) Digital Control and System Applications</p> \n <ul> \n  <li>Module 9A – Handouts</li> \n  <li>Module 9B – Handouts</li> \n  <li>Module 9C – Handouts</li> \n  <li>Module 9D – Handouts</li> \n  <li>Module 9E – Handouts</li> \n </ul> \n</div>\n  "
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Module 9 Discussion Question 1 - Observability

Cell description

Why do we need observability? What is the shortfall if we do not have it? Can’t we just design a state-estimator to approximate the unobservable states?

You will be graded on your participation in this activity, not on the accuracy of solving the problem. Please share your thoughts to this question by Day 4 of Module 9, and provide feedback on your classmates comments by Day 6 of Module 9.

Technical

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Module 9 Discussion Question 2 - Duality

Cell description

By the principle of duality if system is fully controllable then it is observable, right? So why do we need to test for observability before designing the state estimator, especially if we already designed our controller?

You will be graded on your participation in this activity, not on the accuracy of your answer. Please share your response by Day 5 of Module 9, and provide feedback to your classmates by Day 7 of Module 9.

Technical

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Module 9 Assignment

Cell description

Please open the attachments above and complete the Problem Set.

As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone. Submit your response by day 7 of Module 9.

Technical

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</li></ul></div></div>\n\n    <div class=\"vtbegenerated\"> \n <p>Please open the attachments above and complete the Problem Set.</p> \n <ul> \n  <li>As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone. <span style=\"text-decoration: underline;\">Submit your response by day 7 of Module 9.</span></li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9826940_1previewModule\" class=\"moduleSample\">\n </div>\n",
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</li></ul></div></div>\n\n    <div class=\"vtbegenerated\"> \n <p>Please open the attachments above and complete the Problem Set.</p> \n <ul> \n  <li>As you complete this Problem Set please show all your work. When you are finished, scan the document containing your final work or take a clear and readable picture with a camera or phone. <span style=\"text-decoration: underline;\">Submit your response by day 7 of Module 9.</span></li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9826940_1previewModule\" class=\"moduleSample\">\n </div>\n",
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Module 9 Solutions

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Technical

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