Disusun Oleh
Kelompok 1
2
y ( z ) b0 z −b1 z +b 2 0.2262 z+ 0.001159
= 2 = 2
u( z) z +a1 z+ a2 z +0.0175 z+6.301 . 10
−7
x 1 (k +1)
y ( k )= [ 0.001159 0.2262 ]
[ x 2 (k +1) ]
Didapatkan nilai
0 1
A=
[ −6.301 .10 −7
−0.0175 ]
B= [ 01]
C=[ 0.001159 0.2262 ]
D= [ 0 ]
- Cannonical Observer
Untuk y = x, didapatkan persamaan
∬¿¿
y=−0.0175 ẏ−6.301× 10−7∬ y +0.02262∫ u+0.001159 ∬ u
0.02262
y1 u̇1 , ẏ 2 y 2 ,u 2
Y
0.0011594 ẏ 1
0.0175
6.301 .10−7
Di dapatkan persamaan
0.2262 z +0.001159
H (z )= 2
z +0.0175 z+ 6.301. 10−7
0.2262 s+0.001159
H (s)= 2
s +0.0175 s +6.301. 10−7
x1
1 −0.31779 k
u(s)
( s+ 0.01746 ) v1 (s) y
1 x2 0.09075 k
( s+ 0.00004 ) v2 (s)
x˙1=−0.01746 x 1+ 4
v1 =x1
x˙2=−0.00004 x 2 +4
v 2=x2
ẋ1 0.01746 0 x1 1
[][
ẋ2
=
0 ][ ] [ ]
+ u
−0.0 0004 x 2 1
x1
y= [−0.31779 k+ 0.09075 k ]
[] x2