# Difference between revisions of "CDS 101/110 - Output Feedback"

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This lecture introduces the concept of observability and the use of estimators for linear systems. Observability is defined as the ability to determine the system state from the (past) time history of measurements. The observability matrix test is given to check if a linear system is observable, and the test is applied to an example. The concept of (linear) observer design is introduced and the ability to arbitrarily place eigenvalues of the closed loop observer error dynamics is related to observability. A cart and pendulum system is used as an example. | This lecture introduces the concept of observability and the use of estimators for linear systems. Observability is defined as the ability to determine the system state from the (past) time history of measurements. The observability matrix test is given to check if a linear system is observable, and the test is applied to an example. The concept of (linear) observer design is introduced and the ability to arbitrarily place eigenvalues of the closed loop observer error dynamics is related to observability. A cart and pendulum system is used as an example. | ||

− | <!--{{cds101 handouts placeholder|L5-1_reachability_h.pdf|Lecture handout}} | + | <!--{{cds101 handouts placeholder|L5-1_reachability_h.pdf|Lecture handout}} --> |

− | * [http://www.cds.caltech.edu/~macmardg/cds110a-fa08/ | + | * [http://www.cds.caltech.edu/~macmardg/cds110a-fa08/L5-1_estimators.pdf Lecture handout] |

* MATLAB code: [http://www.cds.caltech.edu/~macmardg/cds110a-fa08/ObservExamp.m L5 ObservExamp.m], | * MATLAB code: [http://www.cds.caltech.edu/~macmardg/cds110a-fa08/ObservExamp.m L5 ObservExamp.m], | ||

## Revision as of 00:34, 27 October 2008

CDS 101/110a | Schedule | Recitations | FAQ | AM08 (errata) |

## Contents |

## Overview

**Monday:** Observability and Observers (Slides, MP3)

This lecture introduces the concept of observability and the use of estimators for linear systems. Observability is defined as the ability to determine the system state from the (past) time history of measurements. The observability matrix test is given to check if a linear system is observable, and the test is applied to an example. The concept of (linear) observer design is introduced and the ability to arbitrarily place eigenvalues of the closed loop observer error dynamics is related to observability. A cart and pendulum system is used as an example.

- Lecture handout
- MATLAB code: L5 ObservExamp.m,

**Wednesday:** Control Design Example/Demo: (MP3)

This lecture will use an in-class demo to work through a real-world control example.

## Reading

- K. J. Åström and R. M. Murray,, Princeton University Press, 2008..

## Homework

CDS 210 ONLY!

- hw5 - 210
- heat_pde.m - A, B, C matrix for discretized 1-D heat equation

## FAQ

**Monday**

**Wednesday**

**Friday**

**Homework**