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%  Example 3.34 
% 
% Design of a full-order state observer 
% 
a=[0 1 0; 0 0 1; -6 -11 -6]; 
b=[0; 0; 1]; 
c=[1 0 0]; 
% Check observaility 
disp('The rank of observability matrix') 
ro=rank(obsv(a,c)) 
% Construct the daul system (a1,b1,c1) 
a1=a'; 
b1=c'; 
c=b'; 
% Solve K using poles placement --Ackermann 
p=[-2+2*sqrt(3)*i -2-2*sqrt(3)*i -5]; 
k=acker(a1,b1,p); 
% Obtain the state observer gain Ke 
ke=k'