A Novel DOKF Design and Convergence Analysis
Kalman filter is a very powerful tool in control system design since 1960 when Kalman offered his original paper . Kalman filter design problems for control systems have been given in [130, 183, 225, 256] and the references therein. The convergence analysis of an extended Kalman filter for nonlinear deterministic systems has been presented in . Kalman filter was also used in GPS/SINS integrated navigation fusion algorithm in . Kalman filter was also used for networked data fusion . Kalman filter has also been widely used in many engineering and scientific areas, such as [7, 8, 92, 131, 229]. The control of an inverted pendulum has been studied and demonstrated in control laboratories in connection with the control of launching the rocket for decades. There is a long list of references related to inverted pendulum control for example [80, 184, 217, 224]. In this chapter, we use the inverted pendulum model in an experiment to illustrate the effectiveness of the designed Kalman filter and its implementation.
KeywordsKalman Filter Convergence Analysis Inverted Pendulum Delta Operator Inverted Pendulum Model
Unable to display preview. Download preview PDF.