37 - redobs37 filled - ME 575 Handouts Compensator Transfer...

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ME 575 Handouts 1 ME575 Session 37: Reduced-Order Observer School of Mechanical Engineering Purdue University Slide 1 Compensator Transfer Function Compensator Transfer Function 1 ee 1 2 C(s) K(s A K C B K) K [24 6] s3 5 1 3 5 313 s 7 288 2568s 7542 s4 2 s 5 5 8 =− ++ +− ⎤⎡ ⎤ = ⎥⎢ ⎥ + ⎦⎣ ⎦ + = + + I can also get this using: [num,den]=ss2tf(A-Ke*C-B*K,Ke,K,0) ME575 Session 37: Reduced-Order Observer School of Mechanical Engineering Purdue University Slide 2 Compensator Transfer Function Compensator Transfer Function 10 -1 10 0 10 1 10 2 10 3 0 20 40 60 80 Frequency (rad/sec) Magnitude (dB) Compensator Freq Response 10 -1 10 0 10 1 10 2 10 3 -100 -50 0 50 100 Frequency (rad/sec) Phase (deg)
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ME 575 Handouts 2 ME575 Session 37: Reduced-Order Observer School of Mechanical Engineering Purdue University Slide 3 Compensated System TF Compensated System TF 10 -1 10 0 10 1 10 2 10 3 -120 -80 -40 0 40 Frequency (rad/sec) Magnitude (dB) Freq Response of Compensated System 10 -1 10 0 10 1 10 2 10 3 -300 -200 -100 0 Frequency (rad/sec) Phase (deg) ME575 Session 37: Reduced-Order Observer School of Mechanical Engineering Purdue University Slide 4 Effect of Observer Poles Effect of Observer Poles 22 2 e 2 e1 e 2 e2 let s A K C (s p) s 2ps p k 01 2 p 1 p1 then K k 11 p2 p 2p 1 −+ = + = + + ⎡⎤ ⎤⎡ == = ⎢⎥ ⎥⎢ −− ⎦⎣ ⎣⎦ I 1 e1 e1 e1 e1 2 e1 e1 e2 [24 6] sk 1 k C(s) k2 5 s 7k (24k 6k )s (18k 24k ) s( k 7 ) s ( 7 k k 2 5 ) +− ⎤⎡ ⎤ = ⎥⎢ ⎥ ++ ⎦⎣ ⎦ +++ = + + +
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ME 575 Handouts 3 ME575 Session 37: Reduced-Order Observer School of Mechanical Engineering Purdue University Slide 5
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This note was uploaded on 12/09/2011 for the course ME 575 taught by Professor Meckl during the Fall '10 term at Purdue University-West Lafayette.

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37 - redobs37 filled - ME 575 Handouts Compensator Transfer...

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