Full- and Reduced-Order Linear Observer Implementations in Matlab/Simulink [Lecture Notes]

The design of observers is usually considered a graduate-level topic and therefore tends to be taught in a graduate-level control engineering course. However, several recent editions of standard undergraduate controlsystem textbooks cover full-order, and even reduced-order, observers [1]-[9]. Observers are also used in their own right to strictly observe the state variables of a dynamic system rather than to be used for feedback control (for example, in an experiment whose state variables have to be monitored, observed, or estimated at all times).