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Synthesizing Parametrically Robust Control Systems with State Controllers and Observers Based on Gramian Method

Sergey V. Tararykin, Anatoly A. Anisimov*, and Artem A. Gerasimov
International Journal of Control, Automation, and Systems, vol. 17, no. 10, pp.2490-2499, 2019

Abstract : A method is proposed for creating an optimal parametrically robust structure system of a state observer based on the process of similarity converting of a plant model, in which the conversion matrix is formed by varying singular numbers of controllability and observability gramians. The method enables a state observer structure to be obtained with a definite ratio of controllability and observability that permits fulfillment of parametric robustness conditions, namely, absence of positive feedback in the controller’s composition.

Keyword : Controllability, MatLab, matrices, observability, polynomials, regulators, robustness, state feedback, state observer

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