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% Example 3.41 
% 
% Design of state observer 
% 
g=[0 0 -0.25; 1 0 0; 0 1 0.5]; 
h=[1 0 1]'; c=[1 0 0]; 
% Check the observability 
disp('The rank of observability matrix') 
ro=rank(obsv(g,c)) 
 
% Design 
gaa=g(1,1); gab=g(1,2:3); 
gba=g(2:3,1); gbb=g(2:3,2:3); 
ha=h(1,1); hb=h(2:3,1); 
% Dual system 
g1=gbb'; h1=gab'; 
p=[0 0]; 
k=acker(g1,h1,p); 
ke=k'