Repeat all parts of Problem 9.3-2, using a current observer.

Problem 9.3-2

(a) Design a predictor observer for this system, with the time constant equal to one-half the value of Problem 9.2-3(b). (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 Dce(2) in Fig. 9-8. Use the value of control gain of Problem 9.2-3(b). Do not include the sensor gain in Dce(z). (d) Draw a block diagram of the system in part (b), with D(z) in Fig. P9.2-3 equal to Dce(z). (e) Verify the system characteristic equation using the block diagram in part (d).