National Instruments 370753C-01 - page 31

Chapter 1 Introduction
© National Instruments Corporation 1-23 Xmath Control Design Module
Figure 1-13. Response of Full-State Feedback Controller to a Unit Step Disturbance
Having established your regulator design, you build the estimator and
simulate performance of the closed-loop system feeding back state
estimates. You select the weights for the estimator based on the assumption
that the state noise intensities corresponding to the wedge angle are smaller
than those corresponding to the wedge position. The output weight matrix
reflects your higher priority on the wedge angle than position.
The following steps generate the plot shown in Figure 1-14:
[Ke,EVe,Pe] = estimator(wsys,
diag([1e-3,1,1e-3,10]), diag([14,0.01]));
wcomp = lqgcomp(wsys,Kr,Ke);
wlqg = feedback(wsys,wcomp);
resp = step(wlqg,0:0.01:3);
plot (resp, {legend = names(wlqg),
xlab = "Time",ylab = "Magnitude",
title = "Observer-Controller System "+...
"Step Response",!grid})