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    Lect 38 PDF

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    win alfalah
    This document discusses observers and exact observers for nonlinear systems. It describes how to transform a nonlinear system into observer form and design the observer gain H such that the error dynamics are stable. Circle criterion design is also covered, which uses a nonlinear feedback term to stabilize the error dynamics. The example shows how to design H and N to ensure the transfer function from measurement to error is strictly positive real. Analysis of closed-loop stability under output feedback and with uncertainty is also discussed.

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    © All Rights Reserved
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    Lect 38 PDF

    Uploaded by

    win alfalah
    27 views12 pages
    This document discusses observers and exact observers for nonlinear systems. It describes how to transform a nonlinear system into observer form and design the observer gain H such that the error dynamics are stable. Circle criterion design is also covered, which uses a nonlinear feedback term to stabilize the error dynamics. The example shows how to design H and N to ensure the transfer function from measurement to error is strictly positive real. Analysis of closed-loop stability under output feedback and with uncertainty is also discussed.

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    This document discusses observers and exact observers for nonlinear systems. It describes how to transform a nonlinear system into observer form and design the observer gain H such that the error dynamics are stable. Circle criterion design is also covered, which uses a nonlinear feedback term to stabilize the error dynamics. The example shows how to design H and N to ensure the transfer function from measurement to error is strictly positive real. Analysis of closed-loop stability under output feedback and with uncertainty is also discussed.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    27 views12 pages

    Lect 38 PDF

    Uploaded by

    win alfalah
    This document discusses observers and exact observers for nonlinear systems. It describes how to transform a nonlinear system into observer form and design the observer gain H such that the error dynamics are stable. Circle criterion design is also covered, which uses a nonlinear feedback term to stabilize the error dynamics. The example shows how to design H and N to ensure the transfer function from measurement to error is strictly positive real. Analysis of closed-loop stability under output feedback and with uncertainty is also discussed.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    Nonlinear Systems and Control

    Lecture # 38

    Observers

    Exact Observers

    p. 1/1
    Observer with Linear Error Dynamics

    Observer Form:

    x = Ax + (y, u), y = Cx

    where (A, C) is observable, x Rn , u Rm , y Rp


    From Lecture # 24: An n-dimensional SO system

    x = f (x) + g(x)u, y = h(x)

    is transformable into the observer form if and only if



    h iT  
    n1
    = h, Lf h, Lf h , rank (x) = n
    x
    h iT
    b= 0, 0, 1 , =b
    x
    p. 2/1
    [adif , adjf ] = 0, 0 i, j n 1

    [g, adjf ] = 0, 0j n2
    Change of variables:

    i = (1)i1 adi1
    f , 1in

    T h i
    1 , 2 , n =I
    x
    z = T (x)

    p. 3/1
    x = Ax + (y, u), y = Cx

    x = Ax + (y, u) + H(y C x)
    x = x x
    x = (A HC)x
    Design H such that (A HC) is Hurwitz
    What about feedback control?
    Let u = (x) be a globally stabilizing state feedback
    control
    u = (x)

    x = Ax + (y, u) + H(y C x)

    p. 4/1
    How would you analyze the closed-loop system?

    x = Ax + (Cx, (x x))
    x = (A HC)x

    We know that
    the origin of x = Ax + (Cx, (x)) is globally
    asymptotically stable
    the origin of x = (A HC)x is globally exponentially
    stable
    What additional assumptions do we need to show that the
    origin of the closed-loop system is globally asymptotically
    stable?

    p. 5/1
    Circle Criterion Design

    x = Ax + (y, u) L(M x), y = Cx

    where (A, C) is observable, x Rn , u Rm , y Rp ,


    M x R , () = [ 1 (1 ), . . . , ( ) ]T

    x = Ax + (y, u) L(M x N (y C x)) + H(y C x)

    x = x x
    x = (A HC)x L[(M x) (M x N (y C x))]

    x = (A HC)x L[(M x) (M x (M + N C)x)]


    Define
    z = (M + N C)x
    (t, z) = (M x(t)) (M x(t) z)
    p. 6/1
    x = (A HC)x L(t, z)
    z = (M + N C)x

    def
    G(s) = (M + N C)[sI (A HC)]1 L

    0 +
    - n -
    z -
    G(s)
    6

    () 
    h iT
    (t, z) = 1 (t, z1 ), . . . , (t, z )

    p. 7/1
    Main Assumption: i () is a nondecreasing function

    (a b)[i (a) i (b)] 0, a, b R

    If i (i ) is continuously differentiable
    di
    0, i R
    di

    zi i (t, zi ) = zi [i ((M x)i ) i ((M x)i zi )] 0


    z T (t, z) 0

    p. 8/1
    By the circle criterion (Theorem 7.1) the origin of

    x = (A HC)x L(t, z)
    z = (M + N C)x

    is globally exponentially stable if


    def
    G(s) = (M + N C)[sI (A HC)]1 L

    is strictly positive real

    Design Problem: Design H and N such that G(s) is


    strictly positive real
    Feasibility can be investigated using LMI (Arcak &
    Kokotovic, Automatica, 2001)
    p. 9/1
    Example:

    x1 = x2 , x2 = x31 x32 + u, y = x1
    " # " #
    0 1 h i 0
    A= , C= 1 0 , = 3
    ,
    0 0 y + u
    " #
    0 h i
    3 d
    L= , M = 0 1 , () = , = 3 2 0
    1 d
    " #
    h1
    h= , N
    h2

    1 s + N + h1
    G(s) = (M + N C)[sI (A HC)] L=
    s2 + h1 s + h2

    p. 10/1
    From Exercise 6.7, G(s) is SPR if and only if

    h1 > 0, h2 > 0, 0 < N + h1 < h1


    1
    h1 = 2, h2 = 1, N = 2
    3
    s+ 2
    G(s) =
    (s + 1)2

    x 1 = x2 + 2(y x1 )
    3
    x 2 = y + u x2 +
    3 1
    2 (y x1 ) + (y x1 )

    p. 11/1
    What about feedback control?
    Let u = (x) be a globally stabilizing state feedback control
    Closed-loop system under output feedback:

    x = Ax + (y, (x x)) L(M x)


    x = (A HC)x L(t, z)
    z = (M + N C)x

    How would you analyze the closed-loop system?

    (t, z) depends on x(t). How would you show that is


    well defined?

    What about the effect of uncertainty?


    p. 12/1

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