Abstract
This paper presents the characteristics of a general structured observer and presents an estimation algorithm for a system with external disturbances which are added to the input of the system. By using a disturbance model, the general structured observer can estimate the states of the system in spite of disturbances, where the system is affected from external disturbances. Also, the general structured observer can include the function of a PI observer or high gain observer by properly adjusting the observer’s gain matrices. The existence condition for the observer is derived, which can be checked by the system’s observability condition and the pole-zero cancellation of the system’s polynomial matrix. Through a numerical example, it is verified that the proposed observer is effective estimating the states of the system and the input disturbance.
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Abbreviations
- x(t) :
-
State vector of system
- \(\hat x(t)\) :
-
Estimated state vector of system
- d(t) :
-
Input disturbance vector
- \(\hat d(t)\) :
-
Estimated disturbance vector
- e x (t) :
-
Error vector between real states and estimated states
- ξ(t) :
-
Transformed estimated error vector
- ζ(t) :
-
Transformed error vector
- K,H,M,N :
-
Gain matrices of general structured observer
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Lee, CH., Shin, MS., Kim, HS. et al. Input disturbance estimation using a general structured observer. KSME International Journal 15, 1609–1615 (2001). https://doi.org/10.1007/BF03185114
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DOI: https://doi.org/10.1007/BF03185114