Asymptotic Output Tracking with Estimator
Design a controller for a cardiac pacemaker to maintain a healthy ECG signal. The controller has to incorporate an estimator since not all signals are measured. »
A third-order heartbeat model.
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With completely zero stimuli, the ECG signal is zero.
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The model reveals some zero dynamics involving states 
and 
.
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The zero dynamics are well behaved.
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A reference data for 
is obtained from physionet.org.
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Compute the tracking controller.
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Compute a set of estimator gains.
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The complete controller.
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The simulation shows that the tracking has been achieved.
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