Repeat all parts of Problem 9.3-1 using a current observer.

Problem 9.3-1

(a) Design a predictor observer for this system, with the time constant equal to one-half the value of Problem 9.2-2(a) and with the observer critically damped. (b) To check the results of part (a), use (9-46) to show that these results yield the desired observer charac- teristic equation. (c) Find the control-observer transfer function Dee(z) in Fig. 9-8. Use control gain matrix of Problem 9.2-2(a).