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Chapter 4 Controller Synthesis
MATRIXx Xmath Robust Control Module 4-16 ni.com
fsesti( )
[SysF, vEV] = fsesti(SysA, ns, QWWA, QVVA, {QWVA})
The fsesti( ) function computes a frequency-shaped state estimator.
The estimation problem is stated as follows:
The frequency-shaped filter design problem is to minimize,
which can be written as:
or it can be written as:
For more information on the
fsesti( ) syntax, refer to the Xmath Help.
x
·
Ax Bu w++=
yCxDuv++=
J
1
2
---
w
*
Q
ww
jω()wv
*
Q
vv
jω()v+()
∞–
∞
∫
= dω
x
·
A
A
e
x
A
= B
e
uw
A
++
J
1
2
---
w
A
*
Q
ww
A
w
A
∞–
∞
∫
= v
A
*
Q
vv
A
v
A
2w
A
*
Q
wv
A
v )dω++
x
A
x
·
x
·
′
A
11
A
12
A
21
A
22
x
x′
B
0
uw
A
++=
⎧
⎪
⎨
⎪
⎩
⎧
⎨
⎩
u
C
1
C
2
⎝⎠
⎛⎞
x
·
x
·
′
D
e
uv
A
++=
⎧
⎪
⎨
⎪
⎩
A
e
B
e
C
e