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redobsv95

This function compute the gains for recuded order Darouach observer of 1995 [1]

Calling Sequence

[Pi,L, H,M, F,B1]=redobsv95(E,A,B,C)

Parameters

E, A, B,C:

Continuos matrices of descriptor system. E singular

Pi, L, H, M, F:

Gains matrices of reduced Darouach Observer

B1:

Auxliar matrix for simulation. It is results from the QR r.se transformation

Description

Given a Descriptor system in the form
dxEdt=Ax+Bu
y   =Cx+Du
if the conditions in [1] are satisfied, then exist a full order observer
dzdt=Phi z(t) + L y(t) + H u(t)
xe=M u(t) + F y(t)
xe is the stiamted output, u is the input.
and y(t)=[ -B1u(t)  y*(t) ] y*(t)=Cx(t)
For more information consult the reference. Observability conditions are tested inside the function

Examples

// Descriptor system
E=[1 0 0 0 ; 0 1 0 0; 0 0 0 0; 0 0 0 0];
A=[0 0 1 0 ; 1 0 0 0; -1 0 0 1; 0 1 1 1];
B=[0 0 0 -1]';
C=[0 1 0 0];
// Observer Gains

[Pi,L, H,M, F,B1]=redobsv95(E,A,B,C)

See also

Author

Bibliography

[1] M. Darouach and M. Boutayeb, (1995). Design of Observer for Descriptor Form. IEEE Transactions on Automatic Control. Vol. 70, pp. 1323-1327

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