State observers are used in motion control when measurements are difficult or affected by noise. In practice the eigenvalues of the observer are selected 'to be somewhat more negative' than the eigenvalues of the observed system so that the convergence is faster than other system effects. This practical rule represents a compromise between two desired behaviours: at steady the state observer must present a limited bandwidth to counteract noise whereas in transient periods its bandwidth must be larger in order to increase the convergence. In this paper a state-space observer with variable gains is presented for which no adaptive rule is used to update the gains continuously: as a result an observer with a finite (the gain matrices lie in a finite set) variable structure is implemented.
Finite observers applied to motion control
BALESTRINO, ALDO;LANDI, ALBERTO;
1995-01-01
Abstract
State observers are used in motion control when measurements are difficult or affected by noise. In practice the eigenvalues of the observer are selected 'to be somewhat more negative' than the eigenvalues of the observed system so that the convergence is faster than other system effects. This practical rule represents a compromise between two desired behaviours: at steady the state observer must present a limited bandwidth to counteract noise whereas in transient periods its bandwidth must be larger in order to increase the convergence. In this paper a state-space observer with variable gains is presented for which no adaptive rule is used to update the gains continuously: as a result an observer with a finite (the gain matrices lie in a finite set) variable structure is implemented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
