# obscont

observer based controller

### Syntax

K = obscont(P, Kc, Kf) [J, r] = obscont(P, Kc, Kf)

### Arguments

- P
`syslin`

list (nominal plant) in state-space form, continuous or discrete time- Kc
real matrix, (full state) controller gain

- Kf
real matrix, filter gain

- K
`syslin`

list (controller)- J
`syslin`

list (extended controller)- r
1x2 row vector

### Description

`obscont`

returns the observer-based controller associated with a
nominal plant `P`

with matrices `[A,B,C,D]`

(`syslin`

list).

The full-state control gain is `Kc`

and the filter gain is `Kf`

.
These gains can be computed, for example, by pole placement.

`A+B*Kc`

and `A+Kf*C`

are (usually) assumed stable.

`K`

is a state-space representation of the
compensator `K: y->u`

in:

`xdot = A x + B u, y=C x + D u, zdot= (A + Kf C)z -Kf y +B u, u=Kc z`

`K`

is a linear system (`syslin`

list) with matrices given by:
`K=[A+B*Kc+Kf*C+Kf*D*Kc,Kf,-Kc]`

.

The closed loop feedback system `Cl: v ->y`

with
(negative) feedback `K`

(i.e. `y = P u, u = v - K y`

, or

xdot = A x + B u, y = C x + D u, zdot = (A + Kf C) z - Kf y + B u, u = v -F z

) is given by `Cl = P/.(-K)`

The poles of `Cl`

(`spec(cl('A'))`

) are located at the eigenvalues of `A+B*Kc`

and `A+Kf*C`

.

Invoked with two output arguments `obscont`

returns a
(square) linear system `K`

which parametrizes all the stabilizing
feedbacks via a LFT.

Let `Q`

an arbitrary stable linear system of dimension `r(2)`

x`r(1)`

i.e. number of inputs x number of outputs in `P`

.
Then any stabilizing controller `K`

for `P`

can be expressed as
`K=lft(J,r,Q)`

. The controller which corresponds to `Q=0`

is
`K=J(1:nu,1:ny)`

(this `K`

is returned by `K=obscont(P,Kc,Kf)`

).
`r`

is `size(P)`

i.e the vector [number of outputs, number of inputs];

### Examples

ny=2;nu=3;nx=4;P=ssrand(ny,nu,nx);[A,B,C,D]=abcd(P); Kc=-ppol(A,B,[-1,-1,-1,-1]); //Controller gain Kf=-ppol(A',C',[-2,-2,-2,-2]);Kf=Kf'; //Observer gain cl=P/.(-obscont(P,Kc,Kf));spec(cl('A')) //closed loop system [J,r]=obscont(P,Kc,Kf); Q=ssrand(nu,ny,3);Q('A')=Q('A')-(max(real(spec(Q('A'))))+0.5)*eye(Q('A')) //Q is a stable parameter K=lft(J,r,Q); spec(h_cl(P,K)) // closed-loop A matrix (should be stable);

### See also

- ppol — pole placement
- lqg — LQG compensator
- lqr — LQ compensator (full state)
- lqe — linear quadratic estimator (Kalman Filter)
- h_inf — Continuous time H-infinity (central) controller
- lft — linear fractional transformation
- syslin — definição de sistemas lineares
- feedback — feedback operation
- observer — observer design

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