This function compute the gains for recuded order Darouach observer with unknown inputs [1]
[Pi, L1, L2, H, M, N,C11,C12]=darobsv96(E,A,B,C,F,G)
Continuos matrices of descriptor system. E singular
Unknown input matrices of the descriptor system
Gains matrices of the observer
Auxiliar matrices for simulation, this can be obtained from qrrse transformation
Given a Descriptor system in the form dxEdt=A x(t) + B u(t) +F d (t) y =C x(t) + D u(t) +G d(t) if the conditions in [1] are satisfied, then exist a reduced order observer dzdt=Pi z(t) + L1 y1(t) + L2 y2(t) H u(t) xe=Mz(t) + N y2(t) xe is the stiamted output, u is the input. and y1(t)=C11 x(t) + d1(t) y2(t)=C12 x(t) For more information consult the reference. Observability conditions are tested inside the function
[1] Darouach, M., M. Zasadzinski, M. H. (1996). Reduced Observer Design for Descriptor System with Unknown Input. IEEE Transactions on Automatic Control, 41(I), 1068-1072.