Proportional integral observer (PIO) design for linear control systems

Proportional integral observer (PIO) has the ability to estimate state variables and disturbances in linear control systems. The observer gain can be obtained by traditional pole-placement methods, however, these methods may not provide good robustness bound for observer based regulators and tracking systems. In this thesis, an extended observer model will be derived, and shown that PIO can be regarded as this extended observer. A parameterized method of calculating feedback gain and proportional observer gain will be modified and applied on gain calculation of PIO using an extended model for observer, with good robustness for PIO based regulators and tracking systems. Examples on PIO and PIO based control systems in both continuous time and discrete time will provided to show the result of this design method