Module 10: Minimum-State Observers

Lectures and Content

Folder description

Please click the folder link above to access the Module 10 instructional content. Module 10 contains five video lectures that present the following topics:

Designing State Estimators (10A)
Reduced-Order Observers (10B)
Output Feedback and Reduced-Order Observers (10C)
Servo Systems (10D)
Example 6-13 (10E)

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:

Explain the benefit of the separation principle
Design state estimators and explain the difference between the predictive form and current-state observer
Explain the structure and design principles for reduced order observers
Design a closed-loop control system using full-state feedback and reduced order observers
Design servo-systems using full-state and reduced order observers

How to Complete This Module:

Read Chapter 6.6 pgs 442 - 4604 from Ogata 2nd Edition
View “Designing State Estimators” (module 10A video)
View “Reduced-Order Observers” (module 10B video)
View “Output Feedback and Reduced-Order Observers” (module 10C video)
Read Chapter 6-7 from Ogata 2nd Edition
View “Servo Systems” (module 10D video)
View “Example 6-13 (Module 10E)
Participate in the module discussions
Complete the module assignments

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 6.6 (pp 442-460)
Chapter 6.7

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

Module 10A – Handouts
Module 10B – Handouts
Module 10C – Handouts
Module 10D – Handouts
Module 10E – 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-9946503-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=vd00en&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_7e204f8fe0684ee9bb70439fb4518cf5,open_with_browser_7e204f8fe0684ee9bb70439fb4518cf5,open_with_bbdrive_7e204f8fe0684ee9bb70439fb4518cf5,openWebId_7e204f8fe0684ee9bb70439fb4518cf5,view360Id_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,ax-ally-placeholder_7e204f8fe0684ee9bb70439fb4518cf5,ax-ally-markForAxAnalysis_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,content_settings_7e204f8fe0684ee9bb70439fb4518cf5,content_editSettings_7e204f8fe0684ee9bb70439fb4518cf5,content_edit_7e204f8fe0684ee9bb70439fb4518cf5,properties_folder_7e204f8fe0684ee9bb70439fb4518cf5,itemcarot_managerecord_7e204f8fe0684ee9bb70439fb4518cf5,comments_tool_7e204f8fe0684ee9bb70439fb4518cf5,subscriptions_list_7e204f8fe0684ee9bb70439fb4518cf5,content_readfile_7e204f8fe0684ee9bb70439fb4518cf5,content_overwrite_7e204f8fe0684ee9bb70439fb4518cf5,passes_tool_7e204f8fe0684ee9bb70439fb4518cf5,permissions_tool_7e204f8fe0684ee9bb70439fb4518cf5,content_add_alignment_7e204f8fe0684ee9bb70439fb4518cf5,content_tracking_7e204f8fe0684ee9bb70439fb4518cf5,content_versions_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,bookmarkId_7e204f8fe0684ee9bb70439fb4518cf5,itemsId_7e204f8fe0684ee9bb70439fb4518cf5,packagesId_7e204f8fe0684ee9bb70439fb4518cf5,emailId_7e204f8fe0684ee9bb70439fb4518cf5,removeContentFolderId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,copyContentId_7e204f8fe0684ee9bb70439fb4518cf5,moveContentId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,removeContentId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,Metadata_General_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_Dublin_Core_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_IMS_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_Full_IMS_7e204f8fe0684ee9bb70439fb4518cf5,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_7e204f8fe0684ee9bb70439fb4518cf5\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_7e204f8fe0684ee9bb70439fb4518cf5',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_7e204f8fe0684ee9bb70439fb4518cf5',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_7e204f8fe0684ee9bb70439fb4518cf5',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('7e204f8fe0684ee9bb70439fb4518cf5');\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 6.6 (pp 442-460)</li> \n      <li>Chapter 6.7</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 10A – Handouts</li> \n  <li>Module 10B – Handouts</li> \n  <li>Module 10C – Handouts</li> \n  <li>Module 10D – Handouts</li> \n  <li>Module 10E – Handouts</li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9946503_1previewModule\" class=\"moduleSample\">\n </div>\n",
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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-9946503-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=vd00en&amp;course_id=_233190_1&amp;ctxMenuXythosId=103909318_2&amp;course_id=_233190_1\" bb:navitem=\"\" bb:contextparameters=\"\" bb:menuorder=\"openId_7e204f8fe0684ee9bb70439fb4518cf5,open_with_browser_7e204f8fe0684ee9bb70439fb4518cf5,open_with_bbdrive_7e204f8fe0684ee9bb70439fb4518cf5,openWebId_7e204f8fe0684ee9bb70439fb4518cf5,view360Id_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,ax-ally-placeholder_7e204f8fe0684ee9bb70439fb4518cf5,ax-ally-markForAxAnalysis_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,content_settings_7e204f8fe0684ee9bb70439fb4518cf5,content_editSettings_7e204f8fe0684ee9bb70439fb4518cf5,content_edit_7e204f8fe0684ee9bb70439fb4518cf5,properties_folder_7e204f8fe0684ee9bb70439fb4518cf5,itemcarot_managerecord_7e204f8fe0684ee9bb70439fb4518cf5,comments_tool_7e204f8fe0684ee9bb70439fb4518cf5,subscriptions_list_7e204f8fe0684ee9bb70439fb4518cf5,content_readfile_7e204f8fe0684ee9bb70439fb4518cf5,content_overwrite_7e204f8fe0684ee9bb70439fb4518cf5,passes_tool_7e204f8fe0684ee9bb70439fb4518cf5,permissions_tool_7e204f8fe0684ee9bb70439fb4518cf5,content_add_alignment_7e204f8fe0684ee9bb70439fb4518cf5,content_tracking_7e204f8fe0684ee9bb70439fb4518cf5,content_versions_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,*separator*,bookmarkId_7e204f8fe0684ee9bb70439fb4518cf5,itemsId_7e204f8fe0684ee9bb70439fb4518cf5,packagesId_7e204f8fe0684ee9bb70439fb4518cf5,emailId_7e204f8fe0684ee9bb70439fb4518cf5,removeContentFolderId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,copyContentId_7e204f8fe0684ee9bb70439fb4518cf5,moveContentId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,removeContentId_7e204f8fe0684ee9bb70439fb4518cf5,*separator*,Metadata_General_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_Dublin_Core_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_IMS_7e204f8fe0684ee9bb70439fb4518cf5,Metadata_Full_IMS_7e204f8fe0684ee9bb70439fb4518cf5,\" bb:overwritenavitems=\"\" bb:beforeshowfunc=\"\"> <a id=\"cmlink_7e204f8fe0684ee9bb70439fb4518cf5\" onfocus=\"page.ContextMenu.LI(event, 'cmdiv_7e204f8fe0684ee9bb70439fb4518cf5',true);\" onmouseover=\"page.ContextMenu.LI(event, 'cmdiv_7e204f8fe0684ee9bb70439fb4518cf5',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_7e204f8fe0684ee9bb70439fb4518cf5',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('7e204f8fe0684ee9bb70439fb4518cf5');\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 6.6 (pp 442-460)</li> \n      <li>Chapter 6.7</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 10A – Handouts</li> \n  <li>Module 10B – Handouts</li> \n  <li>Module 10C – Handouts</li> \n  <li>Module 10D – Handouts</li> \n  <li>Module 10E – Handouts</li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9946503_1previewModule\" class=\"moduleSample\">\n </div>\n",
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Module 10 Discussion Question 1 - Observer Forms

Cell description

Given that we always have some number of measurements, why would ever want to design a full-state observer? What advantage and under what conditions would be ever use a reduced-order observer instead?

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 10, and provide feedback on your classmates comments by Day 6 of Module 10.

Technical

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Module 10 Discussion Question 2 - Separation

Cell description

The separation principle states that I can design my controller without designing my state-estimator and vice-versa, thus we can divide the problem into the controller design and the observer design. Are there any reasons why I should have to evaluate/analyze the combined system since I know the poles are independently designed and uninfluenced by the other?

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 10, and provide feedback to your classmates by Day 7 of Module 10.

Technical

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Module 10 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 10.

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 10.</span></li> \n </ul> \n</div>\n  </div>\n\n <div id=\"_9826953_1previewModule\" class=\"moduleSample\">\n </div>\n",
        "url": "https://blackboard.jhu.edu/webapps/assignment/uploadAssignment?content_id=_9826953_1&course_id=_233190_1&group_id=&mode=view",
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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. 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file_1.pdf
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Module 10 Solutions

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Technical

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