6-1 状态观测(估计)问题在第四章我们看到:标准的最佳控制要求实现全部状态变量的反馈,然而在工程实际中,有些状态变量是不便于甚至不能直接量测的,这就给工程实现带来困难。在第五章我们又看到:采用输出反馈的非标准最佳控制,由于利用的运动信息不完全,因此通常不是最佳的,而是准最佳的,解决这一问题的有效途径是设计一个状态观测器(状态估计器),由少量 6-1. State Observations (Estimation) Problems In Chapter 4, we see that the best control of the standard requires the feedback of all state variables. However, in engineering practice, some state variables are inconvenient or even impossible to measure directly Give the project to bring difficulties. In Chapter 5, we also see that the non-standard optimal control using output feedback is not always the best, but the quasi-optimal because of the incomplete information of motion. An effective way to solve this problem is to design A state observer (state estimator), by a small amount