CDS 110b: State Estimation: Difference between revisions
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== Lecture Materials == | == Lecture Materials == | ||
* {{cds110b-pdfs|L4-1_estimators.pdf|Lecture Presentation}} (MP3) | * {{cds110b-pdfs|L4-1_estimators.pdf|Lecture Presentation}} ({{cds110b-pdfs|L4-1_observers.mp3|MP3}}) | ||
* Reading: {{am05|Chapter_6_-_Output_Feedback|Sec 6.1-6.3}} | * Reading: {{am05|Chapter_6_-_Output_Feedback|Sec 6.1-6.3}} | ||
* {{cds110b-pdfs|obs_dfan.m|obs_dfan.m}} - sample computations for Caltech ducted fan | * {{cds110b-pdfs|obs_dfan.m|obs_dfan.m}} - sample computations for Caltech ducted fan | ||
Revision as of 03:24, 24 January 2006
See current course homepage to find most recent page available. |
| Course Home | L7-2: Sensitivity | L8-1: Robust Stability | L9-1: Robust Perf | Schedule |
This lecture presents an introduction to state estimation and observers. Beginning with a definition of observability, we provide conditions under which a linear system is observable and show how to construct an observer in the case where there is no noise. We then prove the separation principle, which shows how to combine state regulation with state estimation.
Lecture Outline
- Observability
- Definition of observability (full nonlinear system)
- Observability conditions for linear processes: intuition + proof
- State Estimation
- Luenberger observer
- Example: ducted fan
- Separation Principle
- Proof of the separation principle
- Transfer function representation
- Example: ducted fan
Lecture Materials
- Lecture Presentation (MP3)
- Reading: AM05 Sec 6.1-6.3
- obs_dfan.m - sample computations for Caltech ducted fan
References and Further Reading
- Friedland, Chapters 7 and 8
