NDLI: State estimators for a class of nonlinear systems

Content Provider	IEEE Xplore Digital Library
Author	Stadlmayr, Richard Siuka, Andreas Daxberger, Harald
Copyright Year	2011
Description	Author affiliation: Institute of Automatic Control and Control Systems Technology, Johannes Kepler University Linz, Austrian Center of Competence in Mechatronics (ACCM), Austria (Daxberger, Harald) \|\| Institute of Automatic Control and Control Systems Technology, Johannes Kepler University Linz, Austria (Siuka, Andreas) \|\| Linz Center of Mechatronics GmbH (LCM) and Austrian Center of Competence in Mechatronics (ACCM), Austria (Stadlmayr, Richard)
Abstract	This contribution is dedicated to the state observer design for a certain class of nonlinear dynamic systems. Moreover this approach is intended as an extension to many known controller design methods, where almost all state variables are necessary for the evaluation of the control law, but only a part of the state vector can be measured. The immeasurable parts of state variables have to be estimated for the implementation. In this paper we depart from a given control law, which leads to a (uniformly) asymptotically stable closed loop system. A dynamic extension of the controller by means of an observer provides an estimation for the immeasurable states, but the observer does not compromise the stability of the overall system such that the combination of the nonlinear controller and the state observer is also an asymptotically stable system. During the observer design a linear inhomogeneous set of partial differential equations (pde) have to be solved and we state conditions for the solvability of the pde's, which can be checked in advance in order to get an information, if the pde's are solvable. The observer design procedure is presented for the unstable mechanical benchmark example inertia wheel pendulum and the permanent magnet synchronous drive.
Starting Page	6913
Ending Page	6918
File Size	242459
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6160703
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Vectors Control systems Wheels Jacobian matrices Mechatronics Eigenvalues and eigenfunctions
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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