1D Observer Form [A(v),B(v),C(v),F(v),H(v)]
A linear switchable controller in the state space with one changeable parameter (planning variable) with a state observer.
blockType: SubSystem
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Path in the library: |
Description
Block 1D Observer Form [A(v),B(v),C(v),F(v),H(v)] implements a linear switchable controller in the state space with one changeable parameter with a state observer, defined by the equation:
Where — this is a planning variable, depending on which are determined , , , and . This type of regulator assumes that the matrices , , and smoothly change depending on , which is common in the aerospace industry.
At the output of this unit, a control signal is obtained, which can be applied to the drive unit.
Restrictions
If the block’s input parameters fall outside the acceptable range, they are cut off. The state space matrices are not interpolated beyond the acceptable range.
Ports
Input
#
y-y_dem
—
control error
vector
Details
The control error given as a vector that corresponds to the dimensions of the state-space matrices.
| Data types |
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| Complex numbers support |
No |
#
v
—
planning variable
`vector'
Details
A planning variable given as a vector that corresponds to the dimensions of state-space matrices. It is a parameter that determines how the system should adapt its parameters in response to changing conditions.
| Data types |
|
| Complex numbers support |
No |
#
u_meas
—
measured position of the actuator
vector
Details
The measured position of the actuator specified as a vector. Helps to correct the state estimation by taking into account the actual behaviour of the actuator.
| Data types |
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| Complex numbers support |
No |
Output
#
u_dem
—
control signal
scalar | vector
Details
Control signal to the actuator.
| Data types |
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| Complex numbers support |
No |
Parameters
Parameters
# A-matrix(v): — matrix A of state space realisation
Details
A state space realisation matrix. In the case of univariate planning, the matrix must have three dimensions, the last of which corresponds to the planning variable v. For example, if -matrix corresponding to the first element of v is a unit matrix, then A[:,::,1] = [1.0 0 0.0; 0.0 1.0].
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# B-matrix(v): — matrix B of state space realisation
Details
State space realisation matrix. In the case of univariate planning, the matrix must have three dimensions, the last of which corresponds to the planning variable v. For example, if -matrix corresponding to the first element of v is a unit matrix, then B[:,::,1] = [1.0 0 0.0;0.0 1.0].
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# C-matrix(v): — matrix C of state space realisation
Details
State space realisation matrix. In the case of univariate planning, the matrix must have three dimensions, the last of which corresponds to the planning variable v. For example, if -matrix corresponding to the first element of v is a unit matrix, then C[:,::,1] = [1.0 0 0.0;0.0 1.0].
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# F-matrix(v): — matrix F of state space realisation
Details
State-space realisation matrix. In the case of univariate planning, the matrix must have three dimensions, the last of which corresponds to the planning variable v. For example, if -matrix corresponding to the first element of v is a unit matrix, then F[:,::,1] = [1.0 0 0.0;0.0 1.0].
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# H-matrix(v): — state space realisation matrix H
Details
State space realisation matrix. In the case of univariate planning, the matrix must have three dimensions, the last of which corresponds to the planning variable v. For example, if -matrix corresponding to the first element of v is a unit matrix, then H[:,::,1] = [1.0 0 0.0;0.0 1.0].
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Scheduling variable breakpoints: — control points of the planning variable
Details
Control points of the planning variable given as a vector. The length v must match the size of the third dimension , , , and .
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |
# Initial state, x_initial: — initial states
Details
The initial states for the controller, such as the initial values of the state vector, x, are specified as a vector. The length of the vector must correspond to the size of the first dimension .
| Default value |
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| Program usage name |
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| Tunable |
No |
| Evaluatable |
Yes |