{ "cells": [ { "cell_type": "markdown", "metadata": { "nbpages": { "level": 0, "link": "[](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html)", "section": "" } }, "source": [ "\n", "*This notebook contains material from [cbe30338-2021](https://jckantor.github.io/cbe30338-2021);\n", "content is available [on Github](https://github.com/jckantor/cbe30338-2021.git).*\n" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 0, "link": "[](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html)", "section": "" } }, "source": [ "\n", "< [4.1 Data/Process/Operational Historian](https://jckantor.github.io/cbe30338-2021/04.01-Process-Historians.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [4.3 Lab Assignment 5: State Estimation](https://jckantor.github.io/cbe30338-2021/04.03-Lab-Assigment-State-Estimation.html) >

\"Open

\"Download\"" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 1, "link": "[4.2 State Estimation](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2-State-Estimation)", "section": "4.2 State Estimation" } }, "source": [ "# 4.2 State Estimation\n", "\n", "This notebook outlines state estimation using the TCLab hardware. " ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "source": [ "## 4.2.1 Output Feedback Control \n", "\n", "Let's begin our investigations by considering the single loop control problem for a single heater/sensor assembly in the Temperature Control Lab. First we define a setpoint function that we'll be using throughout the notebook." ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "%matplotlib inline\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "import pandas as pd\n", "\n", "# Temperature Setpoint\n", "def SP(t):\n", " tp = [ 0, 200, 250, 400, 600]\n", " Tp = [ 50, 50, 40, 40, 50]\n", " return np.interp(t, tp, Tp)\n", "\n", "t = np.linspace(0, 800, 801)\n", "fig, ax = plt.subplots(1, 1)\n", "ax.plot(t, SP(t))\n", "ax.set_title('Temperature Setpoint')\n", "ax.set_xlabel('time / seconds')\n", "ax.set_ylabel('deg C')\n", "ax.grid(True)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "source": [ "Next we implement a simple relay controller using the Python `yield` statement." ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "outputs": [], "source": [ "# Relay Control\n", "def relay(MV_min, MV_max):\n", " MV = MV_min\n", " while True:\n", " SP, PV = yield MV\n", " MV = MV_max if PV < SP else MV_min" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "source": [ "Finally, we put these together to form a control system for the regulation of temperature T1 to the desired setpoint using relay control to manipulate `U1`." ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "nbpages": { "level": 2, "link": "[4.2.1 Output Feedback Control ](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.1-Output-Feedback-Control)", "section": "4.2.1 Output Feedback Control " } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "from tclab import setup, clock, Historian, Plotter\n", "\n", "# run time\n", "t_final = 700 \n", "t_step = 2\n", "\n", "# create a controller instance\n", "controller = relay(MV_min=0, MV_max=80)\n", "U1 = next(controller)\n", "\n", "# execute the event loop\n", "TCLab = setup(connected=False, speedup=20)\n", "with TCLab() as lab:\n", " h = Historian([('SP', lambda: SP(t)), ('T1', lambda: lab.T1), ('Q1', lab.Q1)])\n", " p = Plotter(h, t_final, layout=[('T1', 'SP'), ['Q1']])\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1\n", " U1 = controller.send([SP(t), T1])\n", " lab.Q1(U1)\n", " p.update(t) " ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.2 The Trouble with Output Feedback](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.2-The-Trouble-with-Output-Feedback)", "section": "4.2.2 The Trouble with Output Feedback" } }, "source": [ "## 4.2.2 The Trouble with Output Feedback\n", "\n", "So how did we do? Let's look at the response of the measured sensor temperature and heater input." ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "nbpages": { "level": 2, "link": "[4.2.2 The Trouble with Output Feedback](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.2-The-Trouble-with-Output-Feedback)", "section": "4.2.2 The Trouble with Output Feedback" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(10, 6))\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\")\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\")\n", "ax[0].grid(True)\n", "ax[0].legend()\n", "\n", "ax[1].plot(h.logdict[\"Time\"], h.logdict[\"Q1\"], label=\"Q1\")\n", "ax[1].grid(True)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.2 The Trouble with Output Feedback](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.2-The-Trouble-with-Output-Feedback)", "section": "4.2.2 The Trouble with Output Feedback" } }, "source": [ "As shown, the controller does a reasonably good job of controlling the sensor temperature. But if the goal is to control heater temperature, then there is no assuronce the controller has accomplished that objective." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.2 The Trouble with Output Feedback](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.2-The-Trouble-with-Output-Feedback)", "section": "4.2.2 The Trouble with Output Feedback" } }, "source": [ "![](figures/FeedbackControlDiagram2.png)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.2 The Trouble with Output Feedback](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.2-The-Trouble-with-Output-Feedback)", "section": "4.2.2 The Trouble with Output Feedback" } }, "source": [ "In the context of control, the control variable (CV) is heater temperature, the measured process variable (PV) is the sensor temperature, and we haven't yet established the relationship between them." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.3 Heater/Sensor Model](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.3-Heater/Sensor-Model)", "section": "4.2.3 Heater/Sensor Model" } }, "source": [ "## 4.2.3 Heater/Sensor Model\n", "\n", "In chapter two we explored various models for describing the response of the heater/sensor assemblies to heater inputs. For heater/sensor assembly 1 we developed the following model\n", "\n", "\\begin{align}\n", "C^H_p\\frac{dT_{H,1}}{dt} & = U_a(T_{amb} - T_{H,1}) + U_b(T_{S,1} - T_{H,1}) + \\alpha P_1 u_1\\\\\n", "C^S_p\\frac{dT_{S,1}}{dt} & = U_b(T_{H,1} - T_{S,1}) \n", "\\end{align}\n", "\n", "where $C^H_p$ and $C^S_p$ are the gross heat capacities of the heater and sensor, respectively, $U_a$ is the heat transfer coefficient characterizing the exchange of heat with the surroundings, and $U_b$ is a heat transfer coefficient between the heater and sensor.\n", "\n", "\\begin{align}\n", "\\frac{dT_{H,1}}{dt} & = -\\frac{U_a+U_b}{C^H_p}T_{H,1} + \\frac{U_b}{C^H_p}T_{S,1} + \\frac{\\alpha P_1}{C^H_p}u_1 + \\frac{U_a}{C^H_p}T_{amb}\\\\\n", "\\frac{dT_{S,1}}{dt} & = \\frac{U_b}{C^S_p}(T_{H,1} - T_{S,1}) \n", "\\end{align}\n", "\n", "Where measured temperature, that is, the temperature recorded by the Arduino, $T_1$ is given by\n", "\n", "$$T_1 = T_{S,1}$$" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.4 Converting to a State-Space Model](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.4-Converting-to-a-State-Space-Model)", "section": "4.2.4 Converting to a State-Space Model" } }, "source": [ "## 4.2.4 Converting to a State-Space Model\n", "\n", "The same model can be written in a **state-space** matrix/vector format:\n", "\n", "\\begin{align}\n", "\\frac{dx}{dt} & = A x + B_u u + B_d d \\\\\n", "y & = C x\n", "\\end{align}\n", "\n", "where\n", "\n", "$$x = \\begin{bmatrix} T_{H,1} \\\\ T_{S,1} \\end{bmatrix}\n", "\\qquad\n", "u = \\begin{bmatrix} u_1 \\end{bmatrix}\n", "\\qquad\n", "d = \\begin{bmatrix} T_{amb} \\end{bmatrix}\n", "\\qquad\n", "y = \\begin{bmatrix} T_{S,1} \\end{bmatrix}$$\n", "\n", "and\n", "\n", "$$A = \\begin{bmatrix} -\\frac{U_a+U_b}{C^H_p} & \\frac{U_b}{C^H_p} \\\\ \\frac{U_b}{C^S_p} & -\\frac{U_b}{C^S_p} \\end{bmatrix}\n", "\\qquad\n", "B_u = \\begin{bmatrix} \\frac{\\alpha P_1}{C^H_p} \\\\ 0 \\end{bmatrix}\n", "\\qquad\n", "B_d = \\begin{bmatrix} \\frac{U_a}{C_p^H} \\\\ 0 \\end{bmatrix}\n", "\\qquad\n", "C = \\begin{bmatrix} 0 & 1 \\end{bmatrix}$$\n", "\n", "By common convention, in state-space models the vector $x$ contains all variables representing the **state** of the system. The input vector $u$ is reserved for all manipulated variables (MV's), and the input vector $d$ for all disturbance variables (DV's). The vector $y$ holds all measured process variables (PV's)." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.5 Model Predictions](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.5-Model-Predictions)", "section": "4.2.5 Model Predictions" } }, "source": [ "## 4.2.5 Model Predictions\n", "\n", "For a sufficiently small time step, the change in state is approximated to first-order by\n", "\n", "$$\\frac{dx}{dt}\\bigg\\rvert_{k-1} \\approx \\frac{x_{k} - x_{k-1}}{t_k - t_{k-1}}$$ \n", "\n", "Substituting we get\n", "\n", "$$\\frac{x_{k} - x_{k-1}}{t_k - t_{k-1}} = A x_{k-1} + B_u u_{k-1} + B_d d_{k-1}$$\n", "\n", "which is rearranged to give a means of predicting a value $x_{k}$ at $t_k$ given information available up to time $t_{k-1}$\n", "\n", "$$x_{k} = x_{k-1} + (t_k - t_{k-1}) ( A x_{k-1} + B_u u_{k-1} + B_d d_{k-1})$$\n", "\n", "We call this the state update equation.\n", "\n", "To put this to work, we first use the Python `yield` statement to create co-routine that accepts values for time and the manipulated process inputs, then uses those values to update an estimate of the state." ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "nbpages": { "level": 2, "link": "[4.2.5 Model Predictions](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.5-Model-Predictions)", "section": "4.2.5 Model Predictions" } }, "outputs": [], "source": [ "import numpy as np\n", "\n", "# This generate creates a model of the temperature control lab to run in parallel\n", "# with real-time control. This uses the Python 'yield' statement to \n", "# share data with a calling script.\n", "\n", "# parameter estimates.\n", "alpha = 0.00016 # watts / (units P * percent U1)\n", "P1 = 200 # P units\n", "P2 = 100 # P units\n", "Ua = 0.050 # heat transfer coefficient from heater to environment\n", "CpH = 2.2 # heat capacity of the heater (J/deg C)\n", "CpS = 1.9 # heat capacity of the sensor (J/deg C)\n", "Ub = 0.021 # heat transfer coefficient from heater to sensor\n", "Tamb = 21 # ambient room temperature\n", "\n", "# state space model\n", "A = np.array([[-(Ua + Ub)/CpH, Ub/CpH], [Ub/CpS, -Ub/CpS]])\n", "Bu = np.array([[alpha*P1/CpH], [0]]) # single column\n", "Bd = np.array([[Ua/CpH], [0]]) # single column\n", "C = np.array([[0, 1]]) # single row\n", "\n", "u_initial = np.array([0]) # initial manipulable input\n", "d_initial = [Tamb] # initial disturbance input\n", "x_initial = np.array([Tamb, Tamb]) # initial steady state\n", "\n", "def tclab_model():\n", " # initialize variables\n", " t_now = 0\n", " x_now = x_initial\n", " d = d_initial\n", " \n", " while True:\n", " # yield current state, get MV for next period\n", " t_next, Q = yield x_now\n", " \n", " # compute next state\n", " u = [Q]\n", " x_next = x_now + (t_next - t_now)*(np.dot(A, x_now) + np.dot(Bu, u) + np.dot(Bd, d))\n", " \n", " # update time and state\n", " t_now = t_next\n", " x_now = x_next" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.5 Model Predictions](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.5-Model-Predictions)", "section": "4.2.5 Model Predictions" } }, "source": [ "Let's run the model in parallel with the event loop, feeding both the hardware and model the same information." ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "nbpages": { "level": 2, "link": "[4.2.5 Model Predictions](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.5-Model-Predictions)", "section": "4.2.5 Model Predictions" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "from tclab import setup, clock, Historian, Plotter\n", "TCLab = setup(connected=False, speedup=20)\n", "\n", "t_final = 700 # run time\n", "\n", "# create a controller instance\n", "controller = relay(0, 80)\n", "U1 = next(controller)\n", "\n", "# create model instance\n", "model = tclab_model()\n", "Th, Ts = next(model)\n", "\n", "# execute the event loop\n", "with TCLab() as lab:\n", " h = Historian([('SP', lambda: SP(t)), ('T1', lambda: lab.T1), ('Q1', lab.Q1), \n", " ('Th', lambda: Th), ('Ts', lambda: Ts)])\n", " p = Plotter(h, t_final, layout=[['T1', 'SP'], ['Ts'], ['Th'], ['Q1']])\n", " for t in clock(t_final, 2):\n", " T1 = lab.T1 # get a new measurement\n", " Th, Ts = model.send([t, U1]) # update estimates for the current Th, Ts\n", " U1 = controller.send([SP(t), T1]) # compute the value of U1 for the next time interval\n", " lab.Q1(U1)\n", " p.update(t)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.6 The Trouble with Model Predictions](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6-The-Trouble-with-Model-Predictions)", "section": "4.2.6 The Trouble with Model Predictions" } }, "source": [ "## 4.2.6 The Trouble with Model Predictions\n", "\n", "So far what we're doing is interesting, but with no real consequence for control. All we are doing is passing input information along to the model so that it can operate in parallel with our actual hardware. " ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.1-Issue-1:-Heater-temperature-is-markedly-different-from-the-sensor-temperature.)", "section": "4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature." } }, "source": [ "### 4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature.\n", "\n", "Let's first compare the setpoint to the heater temperature predicted by the model." ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.1-Issue-1:-Heater-temperature-is-markedly-different-from-the-sensor-temperature.)", "section": "4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature." } }, "outputs": [ { "data": { "text/plain": [ "Text(394.0, 52.43422318426067, 'Predicted Heater Temperature Th')" ] }, "execution_count": 7, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1, 1, figsize=(10, 4))\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"Th\"], \"--\", label=\"Th\", lw=3)\n", "ax.legend()\n", "ax.grid(True)\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"T1\"][20]))\n", "ax.annotate('Measurement T1', xy=xy, xytext=xy + np.array([50, -5]),\n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"SP\"][20]))\n", "ax.annotate('Setpoint SP', xy=xy, xytext=xy + np.array([-50, 5]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][194], h.logdict[\"Th\"][194]))\n", "ax.annotate('Predicted Heater Temperature Th', xy=xy, xytext=xy + np.array([-100, 7]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.1-Issue-1:-Heater-temperature-is-markedly-different-from-the-sensor-temperature.)", "section": "4.2.6.1 Issue 1: Heater temperature is markedly different from the sensor temperature." } }, "source": [ "We see that the heater temperature predicted by the model is substantially different from the desired setpoint. Using the measured temperature as a proxy for heater temperature turns out not to work for applications requiring precise temperature control." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.2-Issue-2:-The-model-may-not-be-an-accurate-predictor-of-temperatures.)", "section": "4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures." } }, "source": [ "### 4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures.\n", "\n", "Next, let's compare the actual temperature measurements to the sensor temperature predicted by the model." ] }, { "cell_type": "code", "execution_count": 8, "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.2-Issue-2:-The-model-may-not-be-an-accurate-predictor-of-temperatures.)", "section": "4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures." } }, "outputs": [ { "data": { "text/plain": [ "Text(296.02, 51.983499315311796, 'Predicted Sensor Temperature Ts')" ] }, "execution_count": 8, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1, 1, figsize=(10, 4))\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"Ts\"], \"--\", label=\"Ts\", lw=3)\n", "ax.legend()\n", "ax.grid(True)\n", "\n", "xy = np.array((h.logdict[\"Time\"][98], h.logdict[\"T1\"][98]))\n", "ax.annotate('Measurement T1', xy=xy, xytext=xy + np.array([-100, -10]),\n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"SP\"][20]))\n", "ax.annotate('Setpoint SP', xy=xy, xytext=xy + np.array([-50, -5]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][105], h.logdict[\"Ts\"][105]))\n", "ax.annotate('Predicted Sensor Temperature Ts', xy=xy, xytext=xy + np.array([30, 7]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures.](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.6.2-Issue-2:-The-model-may-not-be-an-accurate-predictor-of-temperatures.)", "section": "4.2.6.2 Issue 2: The model may not be an accurate predictor of temperatures." } }, "source": [ "We see is a notable difference between the sensor temperature predicted by the model and the actual measurement." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.7 Incorporating Measurements](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7-Incorporating-Measurements)", "section": "4.2.7 Incorporating Measurements" } }, "source": [ "## 4.2.7 Incorporating Measurements\n", "\n", "As this example has made clear, we need a notation that distinguishes the actual state of the physical system from our best estimate of that state. We will use $\\hat{x}$ to denote our best estimate of $x$, and use $\\hat{y}$ to denote the measurement that would result from $\\hat{x}$. We can write two systems of equations corresponding to the dynamics of the actual process and to a model of the process.\n", "\n", "* **Process**\n", "\\begin{align*}\n", "\\frac{dx}{dt} & = A x + B_u u + B_d d \\\\\n", "y & = C x\n", "\\end{align*}\n", "\n", "* **Prediction Model**\n", "\\begin{align*}\n", "\\frac{d\\hat{x}}{dt} & = A \\hat{x} + B_u u + B_d \\hat{d}\\\\\n", "\\hat{y} & = C \\hat{x}\n", "\\end{align*}\n", "\n", "We have made a bold assumption that the equatons and coefficients in these systems are the same. Any differences are due to different values for the states $x$ and $\\hat{x}$, and differences between unmeasured process disturbances $d$ and our estimate for those disturbances, $\\hat{d}$.\n", "\n", "As we learned from the example, the problem with using this formulation for the feedback control of unmeasured states is that we are neglecting available measurements. This is a obvious oversight. How can this be addressed?\n", "\n", "A brilliant answer to this question was given by David Luenberger in the early 1960's while a graduate student at Stanford University. The answer was to modify the second system of equations to include a corrective action due to differences between actual process measurements and predictions of what those measurments should be.\n", "\n", "* **Observer**\n", "\\begin{align*}\n", "\\frac{d\\hat{x}}{dt} & = \\underbrace{A \\hat{x} + B_u u + B_d \\hat{d}}_{\\text{prediction}} - \\underbrace{L(\\hat{y} - y)}_{\\text{correction}}\\\\\n", "\\hat{y} & = C \\hat{x}\n", "\\end{align*}\n", "\n", "The idea is that if predicted measurements $\\hat{y}$ are different from the actual measurements $y$, then corrective action will be imposed to modify the state estimates. In a sense, this is imposing feedback control on our process model to cause the model states to track the actual process states. We will need find values for a matrrix $L$ (after Luenberger?) to make this work.\n", "\n", "Taking the difference between predicted and actual measurements, we find\n", "\n", "\\begin{align*}\n", "\\hat{y} - y & = C \\hat{x} - C x \\\\\n", "& = C\\underbrace{(\\hat{x} - x)}_e\n", "\\end{align*}\n", "\n", "where $e = \\hat{x} - x$ is error in our prediction of the state. Subtracting the new model equations from the process model, we get an expression for the dynamics of the model error $e = \\hat{x} - x$\n", "\n", "\\begin{align*}\n", "\\frac{de}{dt} & = \\frac{d\\hat{x}}{dt} - \\frac{dx}{dt} \\\\\n", "\\\\\n", "\\frac{de}{dt} & = (A\\hat{x} + B_u u + B_d \\hat{d}) - (Ax + B_u u B_d d + L(C\\hat{x} - C x)) \\\\\n", "\\\\\n", "\\frac{de}{dt} & = (A - LC)(\\hat{x} - x) + B_d(\\hat{d} - d) \\\\\n", "\\\\\n", "\\implies \\frac{de}{dt} & = (A - LC) e + B_d(\\hat{d} - d) \n", "\\end{align*}\n", "\n", "The choice of $L$ determines observer performance. What we seek is a matrix $L$ such that $A - LC$ results in error $e$ that quickly decays to zero." ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.1 Fun with Eigenvalues](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.1-Fun-with-Eigenvalues)", "section": "4.2.7.1 Fun with Eigenvalues" } }, "source": [ "### 4.2.7.1 Fun with Eigenvalues" ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.1 Fun with Eigenvalues](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.1-Fun-with-Eigenvalues)", "section": "4.2.7.1 Fun with Eigenvalues" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Time constants of A are: [ 27.44985926 145.02633122] seconds\n" ] } ], "source": [ "import numpy as np\n", "\n", "# get the eigenvalues of A and report time constants\n", "eigenvalues, _ = np.linalg.eig(A)\n", "print('Time constants of A are:', -1.0/np.real(eigenvalues), 'seconds')" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.1 Fun with Eigenvalues](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.1-Fun-with-Eigenvalues)", "section": "4.2.7.1 Fun with Eigenvalues" } }, "source": [ "With a little trial and error, find values for $L$ that produce acceptable time constants. Later we will discuss more deliberate methods for finding values for $L$." ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.1 Fun with Eigenvalues](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.1-Fun-with-Eigenvalues)", "section": "4.2.7.1 Fun with Eigenvalues" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Time constants of A - LC are: [16.38248746 5.48592793] seconds\n" ] } ], "source": [ "L = np.array([[0.4], [0.2]])\n", "\n", "eigenvalues_observer, _ = np.linalg.eig(A - np.dot(L, C))\n", "print('Time constants of A - LC are:', -1.0/np.real(eigenvalues_observer), 'seconds')" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "source": [ "### 4.2.7.2 Model Prediction / Measurement Correction\n", "\n", "Making the substitution $\\hat{y} = C\\hat{x}$, the observer equation becomes\n", "\n", "\\begin{align*}\n", "\\frac{d\\hat{x}}{dt} & = \\underbrace{A \\hat{x} + B_u u + B_d \\hat{d}}_{\\text{prediction}} - \\underbrace{L(C\\hat{x} - y)}_{\\text{correction}}\n", "\\end{align*}\n", "\n", "As before, we can try approximating the derivative with a first order difference formula over small intervals of time. One clever detail is to choose the start of the interval, time $t_{k-1}$, to evaluate the model prediction part of the obsever equation, and use the process measurement available at end of the interval, time $t_k$, to evaluate the correction term.\n", "\n", "$$\\frac{\\hat{x}_{k} - \\hat{x}_{k-1}}{t_k - t_{k-1}} = \\underbrace{A \\hat{x}_{k-1} + B_u u_{k-1} + B_d \\hat{d}_{k-1}}_{\\text{prediction at time $t_{k-1}$}} - \\underbrace{L(C \\hat{x}_k - y_k)}_{\\text{correction at time $t_k$}}$$\n", "\n", "For this purpose we introduce some extra notation. We use $\\hat{x}_{k-1}$ to represent the state estimate at time $t_{k-1}$ using all information up to time $t_{k-1}$. Given knowledge of the manipulated inputs $u_{k-1}$ and an estimate of the disturbances $\\hat{d}_{k-1}$, we will use the model to create a predicted state $\\hat{x}_k^{pred}$ for time $t_k$. A measurement is then taken at time $t_k$ which is used to produce a new estimate $\\hat{x}_k$. \n", "\n", "At each time step $t_k$ there are two calculations to perform:\n", "\n", "* **Model Prediction:** Use the model to update the state to the next time step, i.e., $\\hat{x}_{k-1|k-1} \\rightarrow \\hat{x}_{k|k-1}$ with the equation\n", "\n", "$$\\hat{x}_k^{pred} = \\hat{x}_{k-1} + (t_k - t_{k-1}) ( A \\hat{x}_{k-1} + B_u u_{k-1} + B_d \\hat{d}_{k-1})$$\n", "\n", "* **Measurement Correction:** Use measurement $y_k$ to update $\\hat{x}_{k}^{pred} \\rightarrow \\hat{x}_{k}$ with the equation\n", "\n", "$$\\hat{x}_{k} = \\hat{x}_{k}^{pred} - (t_k - t_{k-1}) L (C\\hat{x}_{k}^{pred} - y_k)$$ \n", "\n", "While the notation may be a little daunting, the underlying concepts are quite straightforward. At each time step we have two calculations to perform. First, use all available information to predict the current state using the process model. Second, when a measurement becomes available, compare the measure to the model prediction and apply an appropriate correction to the state estimate. \n", "\n", "Let's see how this works in practice. The next cell introduces `tclab_observer`, Python generator that creates instances of observers using the two-state model." ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "outputs": [], "source": [ "def tclab_observer(L):\n", " # initialize variables\n", " t_now = 0\n", " x_now = x_initial\n", " d = d_initial # estimate of unmeasured disturbances\n", " \n", " while True:\n", " # yield current state, get MV for next period\n", " t_next, Q, T_measured = yield x_now\n", " \n", " # model prediction\n", " u = [Q]\n", " d = [Tamb]\n", " x_predict = x_now + (t_next - t_now)*(np.dot(A, x_now) + np.dot(Bu, u) + np.dot(Bd, d))\n", " \n", " # measurement correction\n", " y = np.array([T_measured])\n", " x_correct = x_predict - (t_next - t_now)*np.dot(L, np.dot(C, x_predict) - y)\n", " \n", " # update time and state\n", " t_now = t_next\n", " x_now = x_correct" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "source": [ "The first experiment is to test if the observer does a better job of matching the model response to the measured temperatures." ] }, { "cell_type": "code", "execution_count": 12, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "outputs": [ { "data": { 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "t_final = 700 # run time\n", "t_step = 2\n", "\n", "# create a controller instance\n", "controller = relay(0, 80)\n", "U1 = next(controller)\n", "\n", "# create estimator instance\n", "L = np.array([[0.4], [0.2]])\n", "observer = tclab_observer(L)\n", "Th, Ts = next(observer)\n", "\n", "# execute the event loop\n", "TCLab = setup(connected=False, speedup=20)\n", "with TCLab() as lab:\n", " h = Historian([('SP', lambda: SP(t)), ('T1', lambda: lab.T1), ('Q1', lab.Q1), \n", " ('Th', lambda: Th), ('Ts', lambda: Ts)])\n", " p = Plotter(h, t_final, layout=[['T1', 'SP'], ['Ts'], ['Th'], ['Q1']])\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1 \n", " Th, Ts = observer.send([t, U1, T1]) # <= use the last value of U1 to estimate the current Th, Ts\n", " U1 = controller.send([SP(t), T1]) # <= compute the value of U1 to use for the next time interval\n", " lab.Q1(U1)\n", " p.update(t)" ] }, { "cell_type": "code", "execution_count": 13, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "outputs": [ { "data": { "text/plain": [ "Text(302.01, 47.641848189471695, 'Predicted Sensor Temperature Ts')" ] }, "execution_count": 13, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1, 1, figsize=(10, 4))\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"Ts\"], \"--\", label=\"Ts\", lw=3)\n", "ax.legend()\n", "ax.grid(True)\n", "\n", "xy = np.array((h.logdict[\"Time\"][98], h.logdict[\"T1\"][98]))\n", "ax.annotate('Measurement T1', xy=xy, xytext=xy + np.array([-100, -10]),\n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"SP\"][20]))\n", "ax.annotate('Setpoint SP', xy=xy, xytext=xy + np.array([-50, -5]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][105], h.logdict[\"Ts\"][105]))\n", "ax.annotate('Predicted Sensor Temperature Ts', xy=xy, xytext=xy + np.array([30, 7]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))" ] }, { "cell_type": "code", "execution_count": 14, "metadata": { "nbpages": { "level": 3, "link": "[4.2.7.2 Model Prediction / Measurement Correction](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.7.2-Model-Prediction-/-Measurement-Correction)", "section": "4.2.7.2 Model Prediction / Measurement Correction" } }, "outputs": [ { "data": { "text/plain": [ "Text(398.0, 51.70130402872223, 'Predicted Heater Temperature Th')" ] }, "execution_count": 14, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(1, 1, figsize=(10, 4))\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\", lw=3)\n", "ax.plot(h.logdict[\"Time\"], h.logdict[\"Th\"], \"--\", label=\"Th\", lw=3)\n", "ax.legend()\n", "ax.grid(True)\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"T1\"][20]))\n", "ax.annotate('Measurement T1', xy=xy, xytext=xy + np.array([50, -5]),\n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][20], h.logdict[\"SP\"][20]))\n", "ax.annotate('Setpoint SP', xy=xy, xytext=xy + np.array([-50, 5]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))\n", "\n", "xy = np.array((h.logdict[\"Time\"][194], h.logdict[\"Th\"][194]))\n", "ax.annotate('Predicted Heater Temperature Th', xy=xy, xytext=xy + np.array([-100, 7]), \n", " arrowprops = dict(arrowstyle=\"->\", facecolor ='green',lw=2))" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.8 State Estimation and Closed-Loop Relay Control](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.8-State-Estimation-and-Closed-Loop-Relay-Control)", "section": "4.2.8 State Estimation and Closed-Loop Relay Control" } }, "source": [ "## 4.2.8 State Estimation and Closed-Loop Relay Control" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.8 State Estimation and Closed-Loop Relay Control](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.8-State-Estimation-and-Closed-Loop-Relay-Control)", "section": "4.2.8 State Estimation and Closed-Loop Relay Control" } }, "source": [ "Zounds!! We now have an estimator that locks on to the measured value of the sensor temperature. \n", "\n", "Now, if we really trust our model, let's take it a step further and control the estimated heater temperature. The following cell replaaces the temperature measurement in the relay feedback using estimated heater temperature. Measurements are still be used, but for estimation raather than directly in the controller feedback." ] }, { "cell_type": "code", "execution_count": 15, "metadata": { "nbpages": { "level": 2, "link": "[4.2.8 State Estimation and Closed-Loop Relay Control](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.8-State-Estimation-and-Closed-Loop-Relay-Control)", "section": "4.2.8 State Estimation and Closed-Loop Relay Control" } }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "TCLab Model disconnected successfully.\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "t_final = 700 # run time\n", "t_step = 2\n", "\n", "# create a controller instance\n", "controller = relay(0, 80)\n", "U1 = next(controller)\n", "\n", "# create estimator instance\n", "L = np.array([[0.4], [0.2]])\n", "observer = tclab_observer(L)\n", "Th, Ts = next(observer)\n", "\n", "# execute the event loop\n", "TCLab = setup(connected=False, speedup=20)\n", "with TCLab() as lab:\n", " h = Historian([('SP', lambda: SP(t)), ('T1', lambda: lab.T1), ('Q1', lab.Q1), \n", " ('Th', lambda: Th), ('Ts', lambda: Ts)])\n", " p = Plotter(h, t_final, layout=[['T1'], ['Ts'], ['Th', 'SP'], ['Q1']])\n", " for t in clock(t_final, t_step):\n", " T1 = lab.T1 \n", " Th, Ts = observer.send([t, U1, T1])\n", " U1 = controller.send([SP(t), Th]) \n", " lab.Q1(U1)\n", " p.update(t)" ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "nbpages": { "level": 2, "link": "[4.2.8 State Estimation and Closed-Loop Relay Control](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.8-State-Estimation-and-Closed-Loop-Relay-Control)", "section": "4.2.8 State Estimation and Closed-Loop Relay Control" } }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = plt.subplots(2, 1, figsize=(12, 8))\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"T1\"], label=\"T1\")\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"SP\"], label=\"SP\")\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"Th\"], label=\"Th\")\n", "ax[0].plot(h.logdict[\"Time\"], h.logdict[\"Ts\"], label=\"Ts\")\n", "ax[0].legend()\n", "ax[0].grid(True)\n", "\n", "ax[1].plot(h.logdict[\"Time\"], h.logdict[\"Q1\"], label=\"Q1\")\n", "ax[1].grid(True)" ] }, { "cell_type": "markdown", "metadata": { "nbpages": { "level": 2, "link": "[4.2.8 State Estimation and Closed-Loop Relay Control](https://jckantor.github.io/cbe30338-2021/04.02-State-Estimation.html#4.2.8-State-Estimation-and-Closed-Loop-Relay-Control)", "section": "4.2.8 State Estimation and Closed-Loop Relay Control" } }, "source": [ "\n", "< [4.1 Data/Process/Operational Historian](https://jckantor.github.io/cbe30338-2021/04.01-Process-Historians.html) | [Contents](toc.html) | [Tag Index](tag_index.html) | [4.3 Lab Assignment 5: State Estimation](https://jckantor.github.io/cbe30338-2021/04.03-Lab-Assigment-State-Estimation.html) >

\"Open

\"Download\"" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.5" } }, "nbformat": 4, "nbformat_minor": 4 }