Canonical realization of observers wilth arbitrarily assigned poles for linear functions of the state

Hiroyuki Kajiwara, Katsuhisa Furuta

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1 Citation (Scopus)


This paper shows that an observer Σob(Â, [Bcirc], Ĉ, [Dcirc], ˆJ) for a linear function Kx of the state of a time-invariant linear system Σ(A., B, C) is characterized by a new system ΣOB(Â, [Bcirc], Ĉ, [Dcirc]) with the initial state Ĵ which receives Markov parameters (CAtB)t =0, … +μ−1as the input and gives (KAtB)t=, v+μ−1as the output, where v is the controllability index of (A, B) and;μ is the observability index of (Â, Ĉ), It admits that the observer is constructed by a realization of σOB(Â, [Bcirc], Ĉ, [Dcirc]) from the input-output data and a determination of the initial state Ĵ. An algorithm is presented to construct the lower order observer with arbitrarihy assigned poles in a canonical form.

Original languageEnglish
Pages (from-to)457-469
Number of pages13
JournalInternational Journal of Control
Issue number3
Publication statusPublished - Jan 1 1979


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

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