21.5 REGULATED CONTROL WITH OBSERVERS

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For a regulated system the control output 'u' can be estimated using the desired system state.

The system state is often difficult to measure directly, so an estimator can be used. .

A regulator can use an estimate of the system state to

The estimators and regulators can be designed separately and then combined. This is the separation principle.

The simplified block diagram for the system is,

The compensator,

This can be converted to a transfer function for the regulator.

The system can also be set up for a compensator by assuming the setpoint input is not zero,

Consider an example of a regulator/estimator design,

This system can be implemented with a C program as shown below,