EstimatorRegulator

constructs the feedback regulator for the StateSpaceModel ssm with estimator and feedback gain matrices l and κ, respectively.

EstimatorRegulator[{ssm,sensors},{l,κ}]

uses only sensors as the measured outputs of ssm.

EstimatorRegulator[{ssm,sensors,finputs},{l,κ}]

specifies finputs as the feedback inputs of ssm.

EstimatorRegulator[{ssm,sensors,finputs,einputs},{l,κ}]

specifies einputs as the exogenous deterministic inputs.

Details and Options

The standard state-space model ssm can be given as StateSpaceModel[{a,b,c,d}], where a, b, c, and d represent the state, input, output, and transmission matrices in either a continuous-time or a discrete-time system:
continuous-time system

discrete-time system
The descriptor state-space model ssm can be given as StateSpaceModel[{a,b,c,d,e}] in either continuous time or discrete time:
continuous-time system

discrete-time system
EstimatorRegulator also accepts nonlinear systems specified by AffineStateSpaceModel and NonlinearStateSpaceModel.
For nonlinear systems, the operating values of state and input variables are taken into consideration when constructing the EstimatorRegulator.
The input can include stochastic inputs , feedback inputs , and exogenous deterministic inputs .
The arguments finputs and einputs are lists of integers specifying the positions of and in .
The output consists of the noisy measurements as well as other outputs.
The argument sensors is a list of integers specifying the positions of in .
EstimatorRegulator[ssm,{…}] is equivalent to EstimatorRegulator[{ssm,All,All,None},{…}].
The estimator gains l can be computed using EstimatorGains, LQEstimatorGains, or DiscreteLQEstimatorGains.
The feedback gains κ can be computed using StateFeedbackGains, LQRegulatorGains, or DiscreteLQRegulatorGains.
Block diagram of the system with its regulator: