SYNTHESIS OF STATE OBSERVERS AND CONSTRUCTION OF A CLOSED-LOOP CONTROL SYSTEM BASED ON THEM

This article elucidates the principles of synthesizing state observers used for controlled objects with limited direct state measurement capabilities. The observer calculates the internal states of the object based on its mathematical model and adapts to the real object by reducing the error through comparison with the measured output. The paper presents the complete structure of the observer, methods for determining the L-matrix that defines its dynamics, the separability of control and observation processes, and the principle of duality between them, supported by theoretical foundations. The synthesis of a practical observer for an electric drive, a model of an astatic observer, and criteria for selecting the L-matrix to meet speed and stability requirements are provided. Additionally, discrete observer equations, real-time algorithms for microcontroller implementation, their flowcharts, and the possibilities of detecting and compensating for external influences are discussed.