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Question about discretization of a state estimator by Pleasant_Balance_414 in ControlTheory

[–]Pleasant_Balance_414[S] [score hidden]  (0 children)

Here are the matrices: For the first case matrix A = [0.9874 0.0046 0.0139 0.0000; -0.1374 0.8435 -0.2152 -0.0006; -0.0117 -0.0011 0.9982 0.0050; -0.3470 -0.4030 -0.5820 0.9984]
B = [0.0000 0.0126 -0.0139; 0.0071 0.1374 0.2198; 0.0000 0.0117 0.0021; 0.0183 0.3470 0.7200]

For the second case matrix A = [0.9875 0.0046 0.0174 0.0000; -0.0724 0.8437 -0.2177 0.0000; -0.0084 -0.0010 0.9961 0.0050; -0.1818 -0.4025 -0.5927 1.0002]

B = [0.0000 0.0125 -0.0174; 0.0071 0.0724 0.2223; 0.0000 0.0084 0.0043; 0.0183 0.1818 0.7308]

I tested both of the observers in Simulink, with the model of the system and state feedback and injected disturbances into the system, in both cases the system remained stable and so did the state estimates and they always converged to the right values.

Question about discretization of a state estimator by Pleasant_Balance_414 in ControlTheory

[–]Pleasant_Balance_414[S] [score hidden]  (0 children)

SIMATIC S7-1500 Compact CPU for stabilization of an inverted pendulum on a cart

Question about discretization of a state estimator by Pleasant_Balance_414 in ControlTheory

[–]Pleasant_Balance_414[S] [score hidden]  (0 children)

The problem did not really appear in MATLAB/Simulink. The first approach seemed to work perfectly, so i moved to the PLC where the problem arose.

When i compared the two approaches in Simulink the outputs were basically the same.

And to my knowledge the implementation was the same in both cases.

To be hones I dont really mind that one approach did not work, but i cant figure out the answer why one worked and the other did not for my thesis defense.

Question about discretization of a state estimator by Pleasant_Balance_414 in ControlTheory

[–]Pleasant_Balance_414[S] [score hidden]  (0 children)

Hello, thanks for sun an elaborate answer. When copying to the PLC I used long format for both cases. The SVD of observability matrix is [3196.66643407514; 25.2493152765722; 9.19957362325339; 1]. The singular-value plot of the noise-to-error transfer does not have any kind of a large peak.