Discrete-time observer-form state-space model with varying matrix values

**Library:**Control System Toolbox / Linear Parameter Varying

Use this block to implement a discrete-time varying state-space model in observer
form. The system matrices *A*, *B*,
*C*, and *D* describe the plant dynamics, and the
matrices *K* and *L* specify the state-feedback and
state-observer gains, respectively. Feed the instantaneous values of these matrices to
the corresponding input ports. The observer form is given by:

$$\begin{array}{c}{x}_{k+1}=A{x}_{k}+B{u}_{k}+L{\epsilon}_{k}\\ {u}_{k}=-K{x}_{k}\\ {\epsilon}_{k}={y}_{k}-C{x}_{k}-D{u}_{k},\end{array}$$

where *u _{k}* is the plant input,

Use this block and the other blocks in the Linear Parameter Varying library to implement common control elements with variable parameters or coefficients. For more information, see Model Gain-Scheduled Control Systems in Simulink.