Synthesis of robust control systems with state observers for electromechanical objects based on gramian method

摘要

The method is proposed for state observer structural optimization, which is based on the procedure of similarity transformation for control object model. The transforming matrix in this case is formed by the variation of singular numbers of controllability and observability gramians. The method allows us to form the structure of state observer with optimal balance of controllability and observability, providing satisfaction of low parameter sensitive condition - absence of positive feedbacks in the structure of controller.