Hello,
I have designed a LQR controller with an observer for the Quanser Hover 3DOF in Labview using the VIs provided in the Control Design Toolbox. I used the Discrete Observer.vi to get the estimated values of the state variables.
In the simulation I have implemented with a Timed Loop everything goes smooth. But when I try to use the values provided by the encoders (no noise) I get a really noisy signal in the estimated state variables and also in the estimated output.
Here I provide the VI with the simulation with the constraints applied and an image that shows what I get from the encoder (Medido) and the same estimated value (Estimado). Sorry about the language, since all the indications in the VI are in Spanish. In the simulation to can change the value of the reference of every axis and then system should get to that reference. Big steps in the reference may cause the system to go unstable because of the constraints of the actuators. Sorry about the mess in the VI.
Thank you a lot in advance!
And sorry about my rusty English.
Greetings!
PS: The link for the picture is here
