CD State Estimator VI

Owning Palette: State Feedback Design VIs

Requires: Control Design and Simulation Module

Builds the state estimator based on a list of known inputs, measured outputs, the linear state-space model, and the estimator gain. Wire data to the Estimator Gain (L) input to determine the polymorphic instance to use or manually select the instance.

Details  

State Estimator (Single Output)

	Configuration specifies if this VI includes the system in the estimator or considers noise as an input of the estimator. The estimator also can be a standalone estimator. 0 System Included (default) 1 System Included with Noise 2 Standalone
	Estimator Gain (L) is the gain that premultiplies the output error to correct the model state dynamics towards the physical states of the system.
	State-Space Model contains a mathematical representation of and information about the model that you want to use to build the estimator.
	Measured Outputs lists the index numbers of all the outputs that you can measure for state estimation. The index is zero-based. By default, this VI measures all outputs.
	Known Inputs lists the index numbers of all the inputs that are known for state estimation. The index is zero-based. By default, all inputs are known.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Estimator Model provides the state-space model for the state and output estimation given known inputs and measured outputs.
	error out contains error information. This output provides standard error out functionality.

State Estimator (Multiple Output)

	Configuration specifies if this VI includes the system in the estimator or considers noise as an input of the estimator. The estimator also can be a standalone estimator. 0 System Included (default) 1 System Included with Noise 2 Standalone
	Estimator Gain is the gain that premultiplies the output error to correct the model state dynamics towards the physical states of the system.
	State-Space Model contains a mathematical representation of and information about the model that you want to use to build the estimator.
	Measured Outputs lists the index numbers of all the outputs that you can measure for state estimation. The index is zero-based. By default, this VI measures all outputs.
	Known Inputs lists the index numbers of all the inputs that are known for state estimation. The index is zero-based. By default, all inputs are known.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	Estimator Model provides the state-space model for the state and output estimation given known inputs and measured outputs.
	error out contains error information. This output provides standard error out functionality.

CD State Estimator Details

A matrix estimator gain indicates that the system is a multiple-output model. Refer to the LabVIEW Control Design User Manual for more information about building state estimators. A general system configuration for the state estimator is one where this VI appends the original model states (x) to the estimation model states () to represent the estimator, as shown in the following equations.

Configuration Types

There are different configurations to synthesize the estimator. These configurations are System Included, System Included with Noise, and Standalone.

The System Included configuration indicates that this VI calculates the states of the system and the outputs of the system internally. You do not need to provide the system outputs as inputs of the estimator to synthesize the estimator.

The System Included with Noise configuration incorporates sensor noise into the System Included configuration. Therefore, sensor noise is an input of the controller model. Sensor noise affects the estimated states that you use to calculate the control action.

The Standalone configuration configures the estimator to accept the actual outputs of the systems as inputs for state estimation. This configuration is useful for implementing the estimator on a real-time target.

Refer to the LabVIEW Control Design User Manual for more information about building a state-space controller.

Delay Support

This VI does not support delays unless the delays are part of the mathematical model that represents the dynamic system. To account for the delays in the synthesis of the controller, you must incorporate the delays into the mathematical model of the dynamic system using the CD Convert Delay with Pade Approximation VI (continuous models) or the CD Convert Delay to Poles at Origin VI (discrete models). Refer to the LabVIEW Control Design User Manual for more information about delays and the limitations of Pade Approximation.