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    Design and Simulation of Full Order Observer: Program

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    Mr. V. Buvanesh Pandian EIE-2019-A SEC BATCH
    1. The document describes the design and simulation of a full order observer for a state space system using MATLAB. It generates the observer gain, adds the observer dynamics, and simulates the output of the original system and estimated states. 2. Discretization and conversion between continuous and discrete transfer functions are simulated using MATLAB. The effects of sampling period are demonstrated. 3. An inverted pendulum system is modeled and LQR control is designed and simulated in MATLAB. Different weight matrices are tested. Precompensation is also implemented and state estimation is added using an observer.

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    Design and Simulation of Full Order Observer: Program

    Uploaded by

    Mr. V. Buvanesh Pandian EIE-2019-A SEC BATCH
    48 views5 pages
    1. The document describes the design and simulation of a full order observer for a state space system using MATLAB. It generates the observer gain, adds the observer dynamics, and simulates the output of the original system and estimated states. 2. Discretization and conversion between continuous and discrete transfer functions are simulated using MATLAB. The effects of sampling period are demonstrated. 3. An inverted pendulum system is modeled and LQR control is designed and simulated in MATLAB. Different weight matrices are tested. Precompensation is also implemented and state estimation is added using an observer.

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    matlab program and answer

    Original Title

    matlab program

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    1. The document describes the design and simulation of a full order observer for a state space system using MATLAB. It generates the observer gain, adds the observer dynamics, and simulates the output of the original system and estimated states. 2. Discretization and conversion between continuous and discrete transfer functions are simulated using MATLAB. The effects of sampling period are demonstrated. 3. An inverted pendulum system is modeled and LQR control is designed and simulated in MATLAB. Different weight matrices are tested. Precompensation is also implemented and state estimation is added using an observer.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    48 views5 pages

    Design and Simulation of Full Order Observer: Program

    Uploaded by

    Mr. V. Buvanesh Pandian EIE-2019-A SEC BATCH
    1. The document describes the design and simulation of a full order observer for a state space system using MATLAB. It generates the observer gain, adds the observer dynamics, and simulates the output of the original system and estimated states. 2. Discretization and conversion between continuous and discrete transfer functions are simulated using MATLAB. The effects of sampling period are demonstrated. 3. An inverted pendulum system is modeled and LQR control is designed and simulated in MATLAB. Different weight matrices are tested. Precompensation is also implemented and state estimation is added using an observer.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 5

    1.

    DESIGN AND SIMULATION OF FULL ORDER OBSERVER


    PROGRAM:
    A = [0 1;-4 -0.2];
    B = [0 1]';
    C = [1 0];
    sys = ss(A,B,C,0);
    Q = 3e4; R = 0.01;
    [kest,L,P] = kalman(sys,Q,R,[]);
    Aobs = A;
    Bobs = B;
    Cobs = C;
    Anew = [A zeros(2);
    L*C Aobs-L*Cobs];
    Bnew = [B B
    zeros(2,1) Bobs];
    Cnew = [C zeros(1,2);
    zeros(2,2) eye(2)];
    sysNew = ss(Anew,Bnew,Cnew,0);
    t = 0:1e-3:10;
    u1 = 2*cos(5*2*pi*t')+2*cos(1*2*pi*t')+2*cos(.2*2*pi*t');
    u2 = zeros(length(t),1);
    y = lsim(sysNew,[u1 u2],t);
    plot(t,y(:,1),t,y(:,2))
    legend('plant output','observer output estimate')

    OUTPUT:
    2. SIMULATION OF DISCRETIZATION USING MATLAB
    PROGRAM:
    G = tf([1 -2],[1 3 20],'inputdelay',1);
    Ts = 0.1;
    Gd = c2d(G,Ts);
    step(G,'b',Gd,'r')
    legend('Continuous','Discretized')
    Gc = d2c(Gd);
    step(G,'b',Gd,'r',Gc,'g--')
    legend('Original','Discretized','D2C Interpolant')
    Ts = 1;
    Hd = c2d(G,Ts);
    Hc = d2c(Hd);
    step(G,'b',Hd,'r',Hc,'g--',10)
    legend('Original','Discretized','D2C Interpolant')
    Gr = d2d(Gd,0.025);
    step(G,'b',Gr,'r',c2d(G,0.025),'g--',4)
    legend('Continuous','Resampled from 0.1 to 0.025','Discretized with
    Ts=0.025')

    OUTPUT:
    3. LQR DESIGN AND SIMULATION USING MATLAB

    PROGRAM:
    M =
    0.5;
    m =
    0.2;
    b =
    0.1;
    I =
    0.006;
    g =
    9.8;
    l =
    0.3;
    p =
    I*(M+m)+M*m*l^2;
    A =
    [0 1 0 0;
    0 -(I+m*l^2)*b/p (m^2*g*l^2)/p 0;
    0 0 0 1;
    0 -(m*l*b)/p m*g*l*(M+m)/p 0];
    B = [ 0;
    (I+m*l^2)/p;
    0;
    m*l/p];
    C = [1 0 0 0;
    0 0 1 0];
    D = [0;
    0];
    states = {'x' 'x_dot' 'phi' 'phi_dot'};
    inputs = {'u'};
    outputs = {'x'; 'phi'};
    sys_ss =
    ss(A,B,C,D,'statename',states,'inputname',inputs,'outputname',outputs);
    pole = eig(A);
    co = ctrb(sys_ss);
    controllability = rank(co);
    Q = C'*C;
    R = 1;
    K = lqr(A,B,Q,R);
    Ac = (A-B*K);
    Bc = B;
    Cc = C;
    Dc = D;
    states = {'x' 'x_dot' 'phi' 'phi_dot'};
    inputs = {'r'};
    outputs = {'x'; 'phi'};
    sys_cl =
    ss(Ac,Bc,Cc,Dc,'statename',states,'inputname',inputs,'outputname',outputs);
    t = 0:0.01:5;
    r =0.2*ones(size(t));
    [y,t,X3]=lsim(sys_cl,r,t);
    [AX,h3,H7] = plotyy(t,y(:,1),t,y(:,2),'plot');
    set(get(AX(1),'Ylabel'),'String','cart position (m)')
    set(get(AX(2),'Ylabel'),'String','pendulum angle (radians)')
    title('Step Response with LQR Control')
    Q = C'*C;
    Q(1,1) = 5000;
    Q(3,3) = 100;
    R = 1;
    K = lqr(A,B,Q,R);
    Ac = (A-B*K);
    Bc = B;
    Cc = C;
    Dc = D;
    states = {'x' 'x_dot' 'phi' 'phi_dot'};
    inputs = {'r'};
    outputs = {'x'; 'phi'};
    sys_cl =
    ss(Ac,Bc,Cc,Dc,'statename',states,'inputname',inputs,'outputname',outputs);
    t = 0:0.01:5;
    r =0.2*ones(size(t));
    [y,t,X1]=lsim(sys_cl,r,t);
    [AX,h1,H3] = plotyy(t,y(:,1),t,y(:,2),'plot');
    set(get(AX(1),'Ylabel'),'String','cart position (m)')
    set(get(AX(2),'Ylabel'),'String','pendulum angle (radians)')
    title('Step Response with LQR Control')
    Cn = [1 0 0 0];
    sys_ss = ss(A,B,Cn,0);
    Nbar = rscale(sys_ss,K);
    sys_cl =
    ss(Ac,Bc*Nbar,Cc,Dc,'statename',states,'inputname',inputs,'outputname',output
    s);
    t = 0:0.01:5;
    r =0.2*ones(size(t));
    [y,t,X]=lsim(sys_cl,r,t);
    [AX,h,H] = plotyy(t,y(:,1),t,y(:,2),'plot');
    set(get(AX(1),'Ylabel'),'String','cart position (m)')
    set(get(AX(2),'Ylabel'),'String','pendulum angle (radians)')
    title('Step Response with Precompensation and LQR Control')
    ob = obsv(sys_ss);
    observability = rank(ob);
    poles = eig(Ac);
    P = [-40 -41 -42 -43];
    L = place(A',C',P);
    Ace = [(A-B*K) (B*K);
    zeros(size(A)) (A-L*C)];
    Bce = [B*Nbar;
    zeros(size(B))];
    Cce = [Cc zeros(size(Cc))];
    Dce = [0;0];
    states = {'x' 'x_dot' 'phi' 'phi_dot' 'e1' 'e2' 'e3' 'e4'};
    inputs = {'r'};
    outputs = {'x'; 'phi'};
    sys_est_cl =
    ss(Ace,Bce,Cce,Dce,'statename',states,'inputname',inputs,'outputname',outputs
    );
    t = 0:0.01:5;
    r = 0.2*ones(size(t));
    [y,t,x]=lsim(sys_est_cl,r,t);
    [AX,H1,H2] = plotyy(t,y(:,1),t,y(:,2),'plot');
    set(get(AX(1),'Ylabel'),'String','cart position (m)')
    set(get(AX(2),'Ylabel'),'String','pendulum angle (radians)')
    title('Step Response with Observer-Based State-Feedback Control')
    OUTPUT:

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