Set_point = 180; %rad/s
w_nom = 1640*pi/30; %rad/s
Torque = 10.0; %Nm
I_nom = 6.9; %A
Ra = 5.91; %Ohm
La = 25e-3; %H
Kt = 1.2292;Ke = 0.7794;
J = 0.027; %kgm2
% Plant: x_dot = A x + B u + E N
a11=-Ra/La; a12=-Ke/La; a21=Kt/J;
A=[a11 a12; a21 0];
b11=1/La; b22=-1/J;
B=[b11; 0]; E=[0; b22];C=[1 0];C_total=eye(2);D=zeros(2);
%Observer of Plant
Ra_id=0.9*Ra;La_id=0.9*La;Kt_id=Kt;Ke_id=1.1*Ke;J_id=1.1*J;
a11_id=-Ra_id/La_id; a12_id=-Ke_id/La_id; a21_id=Kt_id/J_id;
A_id=[a11_id a12_id; a21_id 0];
b11_id=1/La_id; b22id=-1/J_id;
B_id=[b11_id; 0]; E_id=[0; b22id]; C_id=[1 0];
eigA_id=eig(A_id);
%Observer
k=5; 
lamda1=k*eigA_id(1); lamda2=k*eigA_id(2);
l1=a11_id-lamda1-lamda2;l2=lamda1*lamda2/a12_id+a21_id;
L=[l1; l2];
A_obs=A_id-L*C_id; B_obs=[L B_id]; C_obs=eye(2); D_obs=zeros(2);