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FOR ENGINEERING & TECHNOLOGY

Electronics and CommunicationsDepartment

Spring Semester - Academic Year 2019/2020
June 2020

Model G

Article Name : Final esearch

Course Title: Control II
Course Code: ELC 420

Student Name Hamza ismail ahmed ismail yaman

‫حمزة إسماعيل احمد إسماعيل يمن‬
Student ID 18061
StudentLevel 3rd
Section No. 06
Mobile No. 01272411767

Course Instructor
Dr. Mohamed Mohamed Elhwary
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Answer all questions in part 1:

1. Given a unity feedback system where :
K
G ( s )= Selection: a=0 , b=5
(s+ a)(s +b)
k
∴ G ( s )=
s ( s+5 )
b¿
Z [ZOH ( s ) . G(s)]
∵ PTF=
1+ Z [ZOH ( s ) .G (s)]
A B C K
) ∴ Z [ ZOH ( s ) . G ( s ) ]=( 1−Z ) Z [ 2
−1
¿ K ( 1−Z ) Z [ + 2 +
−1
] ( −1 ]
s s s+5 ¿ K 1−Z Z ¿ s ( s+ 5 )

A B C
F ( s )= + +
s s 2 s+5

C=
1
s2 |
s=−5
=0.04

B=
1
s +5 |
s=0
=0.2

A=
1 d 1
= [ ]
−1
1 ! ds s+5 ( s +5 )2 |s=0
=−0.04

−0.04 0.2 0.04

∴ F ( s )= + 2 +
s s s +5

−5 t
f ( t )=−0.04 u ( t ) +0.2 t+ 0.04 e
−0.04 Z 0.2TZ 0.04 Z
∴ F ( Z )= + +
Z−1 ( Z−1 )2 Z−e−5 t

Z [ ZOH ( s ) .G ( s ) ] =K ( Z−1
Z ) [
−0.04 Z 0.2 TZ 0.04 Z
Z−1
+ +
( Z −1 ) Z−e
]
2 −5t

0.2 T 0.04 (Z −1)

¿ K [−0.04 + + ]
Z−1 Z−e−5 t

−0.04 ( Z−1 ) ( Z−e−5 t ) +0.2 T ( Z−e−5 t ) + 0.04 ( Z−1 )( Z−1 )

¿K[ ]
(Z−1)(Z −e−5 t )

Z ( 0.04 ( e−5t +1 ) +0.2 T −0.08 ) + 0.04 e−5 t−0.2T e−5 t +0.04

¿K[ ]
Z 2−Z ( e−5 t +1 ) + e−5 t

Course Code: ELC 420 Course Title: Control II Model G Page No. 2
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¿K¿
∴ 1+Z [ ZOH ( s ) . G ( s ) ]

¿ 1+ K ¿

Z + Z [ −e −1+0.04 K ( e +1 ) +0.2 KT−0.08 K ] +0.04 K ¿ ¿

2 −5 t −5 t

∴ P .T . F

KZ ( 0.04 ( e +1 ) +0.2 T −0.08 ) + 0.04 ( 1−e )−0.2T e−5 t

−5 t −5t
¿
Z +Z [−e −1+0.04 K ( e +1 ) + 0.2 KT −0.08 K ] +0.04 K ¿¿
2 −5 t −5 t

a) at T=0.05
C /C=Z +Z [−e −1+0.04 K ( e +1 ) + 0.2 KT −0.08 K ] +0.04 K ( 1−e ) −0.2 TK e−5 t + e−5 t
2 −5 t −5 t −5 t

2 −11 −11
Z + Z (−1.+ 0.04 K +1 K −0.08 K ) +0.04 K −1.388 ¿ 10 K +1.388 ¿ 10
2 −11
∴ Z + Z ( 0.96 K −1 ) +0.04 K +1.388 ¿ 10 =0

i. Jury
 condition
 ∵ 1>¿ 0.04 K +1.388 ¿ 10−11 ∨¿
−11
∴ 1−1.388 ¿ 10 > 0.04 K
∴ K <25
 ∵ P ( Z=1 ) >0
−11
1+0.96 K −1+ 0.04 K +1.388 ¿ 10 >0
1 K >0
∴ K >0
 P ( Z=−1 )> 0
−11
∴ 1−0.96 K +1+ 0.04 K +1.388 ¿ 10 >0
∴ K <2.1739

K<25<0
ii. Bilinear
C 2 −11
=Z + Z ( 0.96 K−1 ) +0.04 K + 1.388¿ 10 =0 , Z
C

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w+1
when Z=
w−1

( ) ( )
2
w+1 w+1 ( −11
∴ + 0.96 K −1 ) +0.04 K +1.388 ¿ 10 =0
w−1 w−1

( w +1 )2+ ( w+1 ) ( w−1 ) ( 0.96 K−1 ) + ( 0.04 K +1.388 ¿ 10−11 ) ( w−1 )2

w 2+ 2 w+1+(w2−1) ( 0.96 K−1 ) + ( 0.04 K +1.388 ¿ 10−11 ) (w 2−2 w+1)

∴¿

w
2
1 k +1.388 ¿ 10
−11
2−0.04 K

1
w k1.92−2.776 ¿ 10−11 0
w
0
2−0.04 K

K>0∴
 1 k +1.388 ¿ 10−11> 0

1.92−2.776 ¿ 10
−11
k>0
K−2.776 ¿ 10−11 >1.92
6.916 ¿ 10 > K ∴
10

2−0.04 K > 0

0.04K2 <
K <50 ∴
6.916 ¿ 10 < K < 0
10

𝐾=𝑎+𝑏∗𝛼 Where 𝛼 is a fractional value in the given rang: 1 <𝛼 ≤2

d) If the value of gain, K is given by the following equation:

𝛼 = 1.5 , K= 0 + 5*1.5=7.5
Repeat the above stability analysis for your selected 𝐾 in d) using:

∵ the characteristic equation is:

2 −11
∴ Z + Z ( 0.96 K −1 ) +0.04 K +1.388 ¿ 10 =0

At K=7.5

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i i) Jury test

 ∵ 1> |1.388 ¿ 10−11| true

 P(Z=1) >0 , 4.9>0 true

System is stable ∴
 P(Z=-1) >0 , 7.5>0 true

ii) Bilinear transformation

w
2
1 k +1.388 ¿ 10
−11
2−0.04 K

1
w k1.92−2.776 ¿ 10−11 0
w
0
2−0.04 K

2
w =7.5

w =1.92
1

w =1.7
0
∴ System is stable.

2. For the following discrete time system:

a) Find P.T.F:

1
+b
s 1 1
( )
G s= = =
1 s+b +1 s+ ( b+1 )
1+
s+ b

K . Z [ ZOH ( s ) .G ( s ) ]
P .T . F=
1+ K . Z [ ZOH ( s ) . G ( s ) ]
Ts
1−e k
Z [ ZOH ( s ) .G ( s ) ] =Z [ . ]
s s (b+1)

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1
Z [ ZOH ( s ) .G ( s ) ] =K ( 1−z ) Z [
−1
]
s ( s+b+ 1 )

∵ F ( s )=
A
+
B A=s .
s s+ b+1
1
s ( s+ b+1 ) | s=0
=
1
b+ 1

B=( s+ b+1 ) .
1
s ( s+ b+1 ) |
s=−b−1
=
−1
b +1

1 1
+1 +1
b b
∴ F ( s )= .
s s+ b+1
1 1 (−b−1 )t
f ( t )= u ( t )− e
b+1 b+ 1
1 Z 1 Z
∴ F ( Z )= . − .
b+1 Z−1 b+1 Z −e(−b−1 )T

Z [ b+1 Z −1 b +1 Z−e
( Z−1 ) ]
1 Z 1 Z
Z [ ZOH ( s ) .G ( s ) ] =K . − . ( −b−1) T

¿K
[ 1
−
1 Z−1
(
b+1 b+1 Z−e(−b−1) T )]
K
[ Z −e (−b−1 )T −Z+1 ]
b+ 1
¿ ( −b −1 ) T
Z−e
K
[ 1−e (−b−1) T ]
b+ 1
¿ ( −b−1) T
Z−e
K
[ 1−e(−b−1) T ]
b+1
P .T . F=
K
Z−e (−b−1 )T + [ 1−e(−b−1) T ]
b+1

b)Drive the relation between the sampling time T , the gain K and the
system parameter b for a stable operation
c K
=Z−e(−b−1) T + [ 1−e (−b−1) T ]=0
c b+1

∵ System is stable
∴ |Z| < 1 inside a circle
K K (−b−1) T (−b−1 )T
− e −e <1
b+1 b+1

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K
[ 1−e (−b−1 )T ]< 1+e (−b−1 )T
b+1

( K−b−1 ) b+1 ( e (−b −1 )T ) + K e (−b −1 )T

=
b+ 1 b+1
(− b−1 ) T
K−b−1=e [ b+ 1+ K ]

( KK−b−1
−( b+ 1 ) T =ln
+b+1 )

b+1 ( K + b+1 )
−1 K −b−1
∴T= . ln

b) If the parameter b= T −1 and sampling time 𝑇 in range 100 𝑚𝑠𝑒𝑐 ≤ 𝑇 ≤ 500 𝑚𝑠𝑒c
2

Selected: T=200 𝑚𝑠𝑒c

2 2
∴ b= −1= −1=9
T 200∗10
−3

∵T=
−1
b+1
ln (
K −b−1
K +b+1 )
200∗10−3=
−1
9+1
. ln (
K−10
K +10 )
ln ( KK −10
+ 10 )
=2

K −10 2
∴ =e =7.389
K + 10
∴ K−10=7.389 K +73.89
∴ K−7.389 K=73.89+ 10
∴−6.389 K =83.89
∴ K=−13.13

c) If the parameter 𝑏=2𝑇−1 select a reasonable value for the sampling time 𝑇
in range 100 𝑚𝑠𝑒𝑐≤𝑇≤500 𝑚𝑠𝑒𝑐 , what is the corresponding value of 𝐾:
−13.13∗10
∴ K= =−1.313
100
∴ K=−1.313
∵ T =200 msec
b=9

The characteristic ∵

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K
Z−e (−b −1 )T + [ 1−e(−b−1) T ]=0
b+1
−1.313
Z - 0.135+ 10 *0.86466 = 0 , Z=0.021470

true , inside the circle , system is stable ∴|Z|=0.021470<1

Question 3

Consider the following discrete transfer function:

z+1
G(z )= 2
z −1.5 z +0.56

Find out the state variable model in 3 different canonical forms by inspection and by
drawing the block diagram of each form

a) Controllable Canonical form:

General form:
−1 −2 −n
b 0+b 1 z + b 2 z … … . bn z
−1 −2 −n
1+a 1 z + a 2 z … .. an z
−1 −2
z +z
G ( z )= −1 −2
1−1.5 Z +0.56 Z
 confirmation
1- n≥m
2- z=1
Block diagram:

 A,B,C,D

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[ 0
A= −0 , 56 1.5
1
] , [ 0]
B= 1 , C=[ 1 1 ] , D=[0]

State eq:

X(k+1)=Ax(k)+Bu(k)

[ X 1(k +1)
X 2(k +1)
=] [0
−0.56
1
1.5
=
X 1 (k ) 0
+
X 2(k ) 1 ][ ][]
X1(k+1)=0X1(k)+1X2(k)+0u(k)

X2(k+1)=-0.56X1(k)+1.5X2(k)+u(k)
Output eq:

[
X 1( k )
]
y(k)=[ 1 1 ] X 2(k ) +[ 0 ] u(k )

y(k)=X1(k)+X2(k)

b) Observable Canonical form:

−1 −2 −n
b 0+b 1 z + b 2 z … … .+bn z
−1 −2 −n
1+ a 1 z +a 2 z … ..an z
−1 −2
z +z
G ( z )= −1 −2
1−1.5 Z +0.56 Z
 confirmation
1. n≥m
2. z=1
Block diagram:

 A,B,C,D

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[ 0
A= −0 , 56 1.5
1
] , B= 1 [ 1] , C=[ 0 1 ] , D=[0]

State eq:

X(k+1)=Ax(k)+Bu(k)

[ X 1(k +1)
X 2(k +1)
= ] [
0 −0.56 X 1(k ) 1
1 1.5
= X 2(k ) + 1 ][ ][]
X1(k+1)= 0X1(k)-0.56X2(k)+u(k)

X2(k+1)= 1X1(k)+1.5X2(k)+u(k)

Output eq:

X 1(k )
[
y(k)=[ 0 1 ] X 2(k ) +[ 0 ] u(k ) ]
y(k)=0X1(k)+1X2(k)

c) Jordan Canonical form:

Z+1 Z+1
+
Z−0.8 Z−0.7
z +1
r 1=
z−0.7
| z=0.8 = 18
z +1
r 2=
z−0.8
|z=0.7 = -17
−1 −1
18 z 17 z
G(z)= −1 - −1
1−0.8 z 1−0.7 z

Block diagram:

 A,B,C,D

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A= 0 [ 0.8 0.70 ] , B= 1 [ 1] , C=[ 10 −10 ] , D=[0]

 State eq:

X(k+1)=Ax(k)+Bu(k)0

[ ] [
X 1(k +1)
X 2(k +1)
=
0.8 0
= ][
X 1(k ) 1
+ u(k)
0 0.7 X 2(k ) 1 ][]
X1(k+1)= 0.8X1(k)+0X2(k)+u(k)

X2(k+1)= 0X1(k)+0.7X2(k)+u(k)

 Output eq:

[
X 1(k )
]
y(k)=[ 10 −10 ] X 2 (k ) +[ 0 ] u(k )

y(k)= 10X1(k) -10X2(k)

Question 4 :

[ ] [ ]
0.1 0 0.1 0.01
x ( k +1 )= 0 0.5 0.2 x ( k ) + 0 u(k )
0.2 0 0.4 0.005

y ( k )= [ 1 0.2 0.5 ] x ( k )

a) Check Controllability of the pair (𝐴,𝐵)

uc=[ B AB A2 B]

[ ]
0.0015
AB= 0.0010
0.0040

[ ]
0.0006
2
A B= 0.0013
0.0019

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[ ]
0.01 0.0015 0.0006
uc= 0 0.0010 0.0013
0.005 0.0040 0.0019

[ ]
0.01 0.0015 0.0006 0.01 0.0015
uc= 0 0.0010 0.0013 0 0.0010
0.005 0.0040 0.0019 0.005 0.0040

−8
uc=−2.625∗10 ≠ 0

System is controllable
b) Check observability of the pair (𝐴,𝐶)

[ ]
C
uo= CA
2
CA

CA=[ 0.2 0.1 0.34 ]

C A =[ 0.0880 0.05 0.1760 ]

2

[ ]
1 0.2 0.5
uo= 0.2 0.1 0.34
0.088 0.05 0.1760

[ ]
1 0.2 0.5 1 0.2
uo= 0.2 0.1 0.34 0.2 0.1
0.088 0.05 0.1760 0.088 0.05
−4
uo=1.4400∗10 ≠ 0

System is observable
System is controllable and observable
c) Find the transfer function of the above system:
Y (Z)
TF= =C [ZI − A]−1 B
U ( Z)

[ ][ ][ ]
Z 0 0 0.1 0 0.1 Z−0.1 0 −0.1
[ ZI − A ] = 0 Z 0 − 0 0.5 0.2 = 0 Z−0.5 −0.2
0 0 Z 0.2 0 0.4 −0.2 0 Z−0.4

−1 1
[ZI − A ] = ∗ADJ (ZI − A)
DET ([ ZI −A ])

[ ]
Z−0.1 0 −0.1 Z−0.1 0
DET [ ZI − A ]= 0 Z−0.5 −0.2 0 Z−0.5
−0.2 0 Z−0.4 −0.2 0

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¿ ( ( Z−0.1 ) ( Z−0.5 ) ( Z−0.4 ) ) −(−0.1 Z +0.05 )∗−0.2

3
DET ([ ZI − A ]) =Z −Z 2 +0.27 Z −0.01

[ ]
( Z−0.5)( Z−0.4) −0.2 −0.2 Z + 0.1
0 ( Z−0.1 )( Z−0.4 )−0.02 0
0.1 Z −0.5 −0.2 Z +0.02 (Z−0.1)(Z−0.5)

[ ]
Z 2−0.9 Z +0.2 −0.2 −0.2 Z +0.1
2
¿ 0 Z −0.5 Z +0.02 0
2
0.1 Z−0.05 −0.2 Z+ 0.1 Z −0.6 Z +0.05

[ ]
Z 2−0.9 Z +0.2 −0.2 −0.2 Z +0.1
2
¿ 0 Z −0.5 Z +0.02 0 +¿
2
0.1 Z−0.05 −0.2 Z+ 0.1 Z −0.6 Z +0.05

[ ]
Z 2−0.9 Z +0.2 −0.2 −0.2 Z +0.1
2
¿ 0 Z −0.5 Z +0.02 0
2
0.1 Z−0.05 0.2 Z −0.1 Z −0.6 Z +0.05

[ ]
Z 2−0.9 Z +0.2 0 0.1 Z−0.05
2
¿ −0.2 Z −0.5 Z +0.02 00.2 Z−0.1
2
−0.2 Z +0.1 0 Z −0.6 Z +0.05

[ ]
Z 2−0.9 Z +0.2 0 0.1 Z−0.05
−1 1
[ ZI − A ] = 3 2 −0.2
2
Z −0.5 Z +0.02 00.2 Z−0.1
Z −Z + 0.27 Z−0.01 2
−0.2 Z +0.1 0 Z −0.6 Z+ 0.05

1
C [ZI − A] B=
−1
3 2
[ 0.0125 Z 2−0.0108 Z+ 0.0026 ]
Z −Z +0.27 Z−0.01

[ 0.0125 Z 2−0.0108 Z+ 0.0026 ]

TF= 3 2
Z −Z +0.27 Z−0.01

d)Is the system stable? Why?

Yes, because the poles are less than one so this means that the poles are inside the an unit circle
The poles
α 1=0.043884471872
α 2=0.5
α 3=0.4561552813

{0.1,0.4±0.4𝑗} where:
e) By two different methods, design a state feedback controller by moving poles to

𝒖(𝒕)=[ 𝒌𝟏 𝒌𝟐 𝒌𝟐] 𝒙(𝒕)

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Given: α 1=0.1, α 2 =0.4 +0.4J , α 3= α 2 =0.4 -0.4J

n=3
In order to put A, B on the controllable form which are

[ ] []
0 1 0 0
A= 0 0 1 , B= 0
−a 3 −a 2 −a1 1

The declaration of a1,a2,a3 are poles of open loop char. eqn

[ ]
Z−0 ,1 0 −0.1
|ZI − A|=0 , 0 Z−0.5 −0.2 =0
−0.2 0 Z−0.4

=Z3-Z2+0.27Z-0.01=0
a1=-1 ,a2=0.27 ,a3=-0.01

[ ] []
0 1 0 0
A cont= 0 0 1 , B cont= 0
0.01 −0.27 1 1

Desired calcs eqn (Z-0.1)(Z-0.4-0.4j)

(Z-0.4+0.4j)=0
Z3-0.9Z2+0.4Z-0.0320=0
α 1=-0.9, α 2=0.4 , α 3 =-0.032
By using controllable form method(controllabe is checked)
K=¿3-a3 α2-a2 α 1-a1]
= [-0.022 0.13 0.1]

[ ]
a 2 a1 1
k
K= T , T= UcW , W= a 1 1 0
-1

1 0 0

[ ]
0.27 −1 1
= −1 1 0,
1 0 0

[ ]
0.01 0.0015 0.0006
Uc = 0 0.001 0.0013
0.005 0.004 0.0019

[ ]
0.0018 −0.0085 0.01
T= Uc W = 0.0003 0.0001 0
−0.0008 −0.001 0.005

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[ ]
0.1905 1.2381 −0.381
Adj|T|
-1
T = =1*10 −0.0571 0.6286 0.1143
3
|T| 0.0171 0.3114 0.1657

K= K T-1=[-0.022 0.13 0.1]

=[-9.9048 85.619 39.8059]
=By using Ackermann’s
K=[0 0 1] , Uc-1 Φ (A)

Uc = [ B cont B cont A cont B cont ( A 2) cont ¿

[ ]
0 1 0
A cont=¿ 0 0 1
0.01 0.27 1

[]
0
B cont = 0
1

[ ] [ ]
0 0 1 0.27 −1 1
Uc= 0 1 1 ,Uc -1= −1 1 0
1 1 0.73 0 0 0

Desired charactrestic equation is

ϕ )A)=A3 -0.9A2 +0.4 A -0.03 =0

[ ]
−0.022 0.13 0.1
ϕ (A) = 0.001 −0.049 −23
0.0023 −0.0611 0.181

[ ][ ]
0.27 −1 1 −0.022 0.13 0.1
K =[0 0 1] −1 1 0 0.001 −0.049 −23
0 0 0 0.0023 −0.0611 0.181

K =[-0.022 0.13 0.1]

K= K T-1
K=[-9.9048 85.619 39.8095]

Question5 Write a PLC Ladder diagram to execute the following function?

A B X Y Z

0 0 1 0 0

0 1 0 1 0

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1 0 0 0 1

1 1 1 0 0

Takes two input A& B

And provides 3 output X&Y&Z
Takes two input A& B
And provides 3 output X&Y&Z
)X(
A B

A B

(Y)
A B

(Z)
A B

Part 2 Research topic:

1. State feedback observer
1-1 Introduction
while state feedback control is very attractive due to accurate gain matrix K computation, the
implementation of a state feedback controller is only possible when all state variables are directly
observable with the help of some form of sensors.
Because of the excess number of sensors needed or the unavailability of states for measurement , This
requirement is not met in most practical circumstances.

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Hence the need for an observer that measures all variables of the state when monitoring input and
output is evident.
In control theory, a state observer is a system that provides an estimate of the internal state of a given
real system, from measurements of the input and output of the real system. It is typically computer-
implemented, and provides the basis of many practical applications.
Knowing the system state is necessary to solve many control theory problems; for example, stabilizing
a system using state feedback.
In most practical cases, the physical state of the system cannot be determined by direct observation.
Instead, indirect effects of the internal state are observed by way of the system outputs. A simple
example is that of vehicles in a tunnel: the rates and velocities at which vehicles enter and leave the
tunnel can be observed directly, but the exact state inside the tunnel can only be estimated. If a system
is observable, it is possible to fully reconstruct the system state from its output measurements using the
state observer.
There are types for observer :

Full Order Observer: If the state observer measures all the state variables, irrespective of whether or
not there are any usable for direct measurements, it is considered a full order observer.

Reduced Order Observer: An observer who calculates machine states below "n" is named reduced
order observer.
Maximum Observer Order: Unless the observer 's order is zero then it is Called as auditor with
minimal order

We will address this in this sense, and on this subject, along with illustrations, definitions, definitions,
and sketches that explain all the topics that we are dealing with.

1-2 The Observer objective :

The Observer objective is that of enforcing a set of generalized mutual exclusion constraints , and all
transitions are assumed to be controllable.
An observer is a complex method used to estimate the status of a system, or any of a system's
states.To estimate all machine states a full-state observer is required.
The observer can be conceived either as a system of continuous time or as a system of discrete time.
The processes of design are at least very similar, and sometimes identical.

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1) The observer's purpose is to generate an estimate of the x(t) state based on system output
measurements y(t) and system input u(t).
No noise or other disturbance is believed to be exactly detectable input and output signals .

2) The observer uses a mathematical model for the realization of the system in the state space.
Therefore it is assumed that the matrices {A, B , C , D} are accurately known.

The possibility of modeling errors is not included in the observer's deduction .

3) The observer is an (n)-order linear dynamic system, where n is the number of state variables in the
system.

4) Assuming that the observer is to be used as part of a feedback control system, the estimate
will be used by the controller as if it were the true state x(t). Thus, with full-state feedback control

using a full-state observer, the control signal is generated from , where K is

the r × n control gain matrix chosen to place the closed-loop eigenvalues at specified locations .

5) The observer under consideration in these notes shall be a deterministic system. This means there is
no measurement noise or unexplained system-acting disturbances.

1-3Observer template :

u(t) B

y(t) L

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There are many methods to extract the full-state observer status equations that the solution is to model
the Observer state equations as the real system , plus a correction period dependent on the measured
results and estimate What will be of the output. With the computer built by :

, (1)

the observer is modeled as

, (2)
Where L is the observer's matrix of n default m. In (2) the state equation is seen as modeling the
actual state equation, with the true state x(t) being replaced by the estimate x^(t), and a correction
term that is the difference between the actual measured output y(t) and its estimate y^(t).

In (2) the output equation is also seen as a model of the output equation of the system, with x(t)
superseded by its estimate. The substitution of the expression y^(t) into the state equation of the
observer yields the following alternative forms for the modelOf the beholder.figure (1) block
diagrams for a continuous-time full-state observer

u(t) B

y(t L

A-LC
Fig. 1

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Therefore, for the measurement error, the state equation is a homogeneous differential
equation governed by the A−LC matrix. If the benefit matrix L is chosen in such a way
that A−LC's own values are exclusively in the left half of the complex plane, the error
equation becomes asymptotically constant and the calculation error decreases to zero
over time.

1-4 Gain Matrix Calculation :

The full-state observer's gain matrix L can be calculated using some of the methods used to measure
the K matrix of control value. We 're going to say the device is completely measurable .

Consequently, the observe's closed-loop own values may be put at specified positions by selecting L.

The closed-loop system matrix of interest is A − BK for control problem with full state feedback. The
closed-loop system matrix, when compared with the observer problem, is A − LC.

The arrangement of these two matrices is similar; BK and LC vary only in the order of the unknown
vector.

Since the proper values of a matrix and its transposition are the same, the problem with the observer
can be formulated the same way as the control .

Example for figure (1)

For this case, the state space realization is

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, , , (6)

A's own principles are e = {−1, −1 ± j1} , And the observer 's optimal closed-loop values are

={−5, −6, −7} , It is a single-output method, and the gain matrix L is special since it is equal to
such specific values.

a single-input device for the control design issue. The architecture will use Row-Reduced Echelon
(RRE) process.

The matrix to be exploited during RRE is .

for

(7)

From the RRE matrix, it is seen that

, , and

The value of is arbitrary and will be set to 1 for this example, so that

FOR

= (8)

From the RRE matrix, it is seen that

The value of is arbitrary and will be set to −1 for this example, giving

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Finally, FOR

(9)

From the RRE matrix, it is seen that

The value of is arbitrary and will be set to 1 for this example, so that

The transpose of the observer gain is computed in the same fashion as the controller gain matrix K.

(10)

Therefore, the observer gain matrix and closed-loop system matrix are

, (11)

It is easily verified that the eigenvalues of are located at {−5, −6, −7} , which are the specified
values

1-5 Positioning of Observer

Since A − LC 's own values determine the velocity at which the estimation error e(t) decays, it is
logical to make the actual parts of those own values as negative as possible. This would very easily
cause the mistake to decay. However, where there are design faults to be found there is a issue with
this reasoning. The values in the {A, B , C, D} matrices can not necessarily be recognized in real
implementations. Research has shown that a particular method is needed in order for the observer to
be resilient against modeling errors, and to allow the estimation error to decline rapidly.

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If the original function has stable zeros, then of the observer's own values will be at such
stable zeros' values. The observer's remaining own values may be put deep into the left-half axis, but
in positions equidistant from the origin in what is regarded as the Butterworth configuration.

1-6 . Full-State Feedback and Full-State Observer

When the full-state observer is used in combination with the gain matrix K for feedback regulation,
the effect is a complex controller for nthorder.
The observer must calculate the input and output signals of the machine, and produce an
approximation of the complete condition.
The control benefit matrix uses this calculation as if it were the real condition, and the control rule is

With this device the maximum machine dimension is 2n.

Figure 2 shows complete plant and controller setup , Full-state observer with full-state control gain
matrix.

Fig(2)

The control gain matrix K was chosen to position the system's n closed-loop proper values under the
presumption of full-state input at defined locations. The observer benefit matrix L was chosen to
position the own values of n closed loop observers at selected locations.

The full set of 2n closed-loop, owing to the separation concept

Device values are always placed at the appropriate positions obtained by matrices K and L. The
complete characteristic equation for the closed-loop is described below.

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Therefore a distinction occurs between the nature of the monitor and the nature of the observer. Both
of the benefit matrices, K and L, may be determined to position the respective individual values at
different positions, and neither of the designs has any impact on the other in terms of such positions of
own interest.

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2. Providing lubricant for the gear box before the lathe spindle starts to run which
aims to ensure that the oil pump motor starts first and the main motor starts
subsequently:

i) Number of PLC Inputs Required

X0 _ START pushbutton to Start Oil Pump Motor Motion

X1 _ START pushbutton to Stop Main Motor Motion

X2 _STOP pushbutton to Stop Oil Pump Motor Motion

X3 _ STOP pushbutton to Stop Main Motor Motion

ii) Number of PLC Outputs Required

Y0 for the Oil Pump Motor

Y1 for the Main Motor

iii) PLC Ladder diagram:

X0 X2

Y0

X1 X3

Y1

Y0

Y1

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iv) PLC Ladder Programming Description:

 · T0 start counts for 5 sec while X1 is ON. When T0 reaches its set value, the NO contact T0
becomes ON while NC contact T1 remains OFF, which makes the Y1 indicator ON and
latched.
 If X1 = OFF, T1 counts for 3 sec. The NC touch T1 should trigger when T1 hits its fixed
value when NO touch T0 stays OFF, which causes the indicator Y1 to be OFF.

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Research topics
1. State feedback observer ……….…...…………………………………… 17

1-1 Introduction . …………………………………………………………………..17

1-2 The Observer objective………………………………………………………. 18
1-3Observer template ……………………………………………………………...19
1-4 Gain Matrix Calculation ………………………………………………………..20

1-5 Positioning of Observer …………………………………………………………23

1-6 . Full-State Feedback and Full-State Observer ………………………………...23

1 - Plc system………………………………………………………………….. 25

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References
1-Observer-based Controller Design, D. Banjerdpongchai, EE635, Chulalongkorn University
Chapter 8 in C. Chen, Linear System Theory and Design, Oxford University Press, 2009
2-C. T. Chen. Linear System Theory and Design, 2nd ed., New York, USA: Holt, Rinehart and
Winston, 1984.
3-C. C. Tsui. Robust Control System Design — Advanced State Space Techniques, 2nd ed., Taylor
& Francis, 2004.
4-Luo, A. C. J.: A mathematical modeling approach from nonlinear dynamics to complex systems.
Nonlinear Systems and Complexity, 2019.
5-] Kamel M., Kandil A., El-Ganaini W. A, and Eissa A. M., Active vibration control of a nonlinear
magnetic levitation system via Nonlinear Saturation Controller (NSC), Nonlinear Dynamics,
77(3): 605-619, 2014.
6-Meymand S. Z., Taheri M., Hosseinipour M., and Ahmadian M, Vibration Analysis of a Coupled
Multibody Dynamic Model of a Contact Mechanics Roller Rig. Proceedings of the 2016 Joint
Rail Conference JRC16 April 12-15, 2016, Columbia, SC, USA
7-] Abourabia A.M., Hassan K.M., and Selima E.S.: Painleve´ analysis and new analytical solutions
for compound KdV–Burgers equation with variable coefficients. Canadian Journal of Physics,
88(4), 211- 221, 2010
8-. Shaked, U.: Solution in the z-domain to the discrete-time stationary Kalman filtering problem for
systems with perfect measurements. IEEE Transactions on Automatic Control 31, 1156–1159
(1986)
9-https://www.ekb.eg/ [Accessed 21 may2020].
(https://www.ekb.eg/ar/muse-search#_48_INSTANCE_ZHxLz3HSxIRQ_%3Dhttps%253A
%252F%252Fmffeci.ekb.eg%252Fmuse%252Flogon%252FEKBStudentsUniSAML%252F
%2523%252FpassThrough)
10- https://link.springer.com/article/10.1007/s11633-014-0865-7[Accessed 21 may2020].
11- http://plc-scada-dcs.blogspot.com/2013/12/basic-plc-ladder-programming-
training_2074.html#axzz6MjpkXizj [Accessed 22 may2020].
12- http://ctms.engin.umich.edu/CTMS/index.php?
example=Introduction&section=ControlStateSpace [Accessed 22 may2020].

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