A Novel DOKF Design and Convergence Analysis

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 430)


Kalman filter is a very powerful tool in control system design since 1960 when Kalman offered his original paper [132]. 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 [21]. Kalman filter was also used in GPS/SINS integrated navigation fusion algorithm in [36]. Kalman filter was also used for networked data fusion [262]. 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.


Kalman Filter Convergence Analysis Inverted Pendulum Delta Operator Inverted Pendulum Model 
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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Hongjiu Yang
    • 1
  • Yuanqing Xia
    • 2
  • Peng Shi
    • 3
  • Ling Zhao
    • 4
  1. 1.Institute of Electrical EngineeringYanshan UniversityQinhuangdaoChina, People’s Republic
  2. 2.School of AutomationBeijing Institute of TechnologyBeijingChina, People’s Republic
  3. 3.Department of Computing and Mathematical SciencesUniversity of GlamorganPontypriddUnited Kingdom
  4. 4.College of Mechanical EngineeringYanshan UniversityQinhuangdaoChina, People’s Republic

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