The response of observer based regulators designed by the separation principle

Abstract

Transition processes in the system incorporating an observer are analyzed. The symmetry of transition matrix with respect to the eigenvalues assigned for controller and observer is proved using state space methods. The interrelation with peaking phenomenon is discussed, and the asymptotic behavior of the system for the case of fast observer dynamics is investigated. Some illustrative examples and application to the tracking control of an autonomous vehicle are presented.