Linear Observers Design and Implementation

In this paper we show how to implement full- and reduced-order observers using the software packages for computer aided control system design MATLAB and SIMULINK. As a matter of fact, we show how to implement a linear system and its observer, represented by their state space forms, using the SIMULINK state space blocks. We discuss how to choose the observer(s) initial conditions and how to setup the observer gain(s). The presentation is done at the level of undergraduate students who have completed a basic undergraduate class in control systems and have knowledge of the state space linear system representation. Having full understanding of the observer implementation(s), students and engineers will feel confident to use these observers and observer based controllers in numerous engineering and scientific applications.