• 제어로봇시스템학회논문지
• /
• 제10권7호
• /
• pp.575-582
• /
• 2004

The observer design problem is studied for a class of multi-output nonlinear systems that are not necessarily observable. Generalized nonlinear observer canonical form is introduced for multi-output nonlinear systems to design nonlinear observers. Sufficient conditions are given for a nonlinear system to be transformed by state-space change of coordinates into generalized nonlinear observer canonical form. Based on this canonical from, a sufficient condition is also given for the existence of nonlinear observers. An illustrative example is presented to show the design procedure of the proposed method.

• Journal of Mechanical Science and Technology
• /
• 제18권7호
• /
• pp.1150-1158
• /
• 2004

In this paper, we present an adaptive observer for nonlinear systems that include unknown constant parameters and are not necessarily observable. Sufficient conditions are given for a nonlinear system to be transformed by state-space change of coordinates into an adaptive observer canonical form. Once a nonlinear system is transformed into the proposed adaptive observer canonical form, an adaptive observer can be designed under the assumption that a certain system is strictly positive real. An illustrative example is included to show the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 B
• /
• pp.429-432
• /
• 1998

This paper present a generalized observer and its existence condition. The observer can be estimated the states of system even if an external noise is added to the system's output. From a numerical example, we show that the proposed observer does not affected by a step or a sinusoidal noise.

• 제어로봇시스템학회논문지
• /
• 제11권4호
• /
• pp.271-278
• /
• 2005

In this paper, we present an adaptive observer for multi-output nonlinear systems that include unknown constant parameters and are not necessarily observable. Based on generalized nonlinear observer canonical form, new adaptive observer canonical form is proposed. Sufficient conditions are given for a nonlinear system to be transformed into the proposed adaptive observer canonical form. The existence of the proposed adaptive observer is given in terms of Lyapunov-like condition and SPR condition. An illustrative example is presented to show the design procedure of the proposed method.

• International Journal of Control, Automation, and Systems
• /
• 제3권2호
• /
• pp.159-165
• /
• 2005

This paper designs observers for matrix second-order linear systems on the basis of generalized eigenstructure assignment via unified parametric approach. It is shown that the problem is closely related with a type of so-called generalized matrix second-order Sylvester matrix equations. Through establishing two general parametric solutions to this type of matrix equations, two unified complete parametric methods for the proposed observer design problem are presented. Both methods give simple complete parametric expressions for the observer gain matrices. The first one mainly depends on a series of singular value decompositions, and is thus numerically simple and reliable; the second one utilizes the right factorization of the system, and allows eigenvalues of the error system to be set undetermined and sought via certain optimization procedures. A spring-mass system is utilized to show the effect of the proposed approaches.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.22-25
• /
• 2005

In the paper, algorithms for disturbance observers are newly presented in the time-domain. Attention is paid to observing a ramp disturbance by introducing an integral term to the output equation of a constant disturbance observer. In order to reduce the sensitivity to the measurement noise, the disturbance observer is combined with the state observer. It will be shown that the estimation dynamics can be arbitrarily chosen by assigning the eigenvalues of a characteristic equation. Also, we provide the analysis of observer behaviors subject to non-ramp-style disturbances. Finally, we propose the generalized disturbance observer that accurately estimates disturbances of higher order in time series expansion.

• 전자공학회논문지SC
• /
• 제45권1호
• /
• pp.9-14
• /
• 2008

본 논문에서는 다입력 다출력 비선형 시스템에 대한 관측기 설계 방법을 제안한다. 먼저 관측기 설계를 위한 삼각구조를 갖는 비선형 시스템을 정의한다. 또한 제안한 관측기의 안정도를 증명하는데 중요한 역할을 하는 가관측성 행렬을 다입력 다출력 시스템으로 확장한다. 확장된 가관측성 행렬을 이용하여 상태변수와 시스템 입력의 유계 조건하에서 제안한 관측기가 로컬 영역에서 지수 함수적 수렴성을 가짐을 증명한다. 마지막으로 제안한 결과의 유효성을 증명하기 위하여 모의실험 예제를 제공한다.

• 동력기계공학회지
• /
• 제3권1호
• /
• pp.55-59
• /
• 1999

Generally, T.G(Tacho-generator, Tachometer) sensor is used widely for sensing the angular velocity in rotary machine. By limitation of T.G sensor's structure, the sensed angular velocity include a periodic noise, and the noise is called "ripple" as an electrical term. To reduce the effecting of the ripple, many kinds of filters are designed and installed, but there is necessary a trade off between response time and adapted frequency band. In this paper, we propose a generalized observer to estimate an angular velocity from the output signal of T.G sensor. The generalized observer is proposed firstly for continue systems, and it is applied to DC servo motor with T.G sensor. For simulation, we measure T.G signals at 60, 400, 570 rpm respectively, and analysis those to obtain the resonance frequency of ripple by FFT method. To verify the effectiveness of the proposed algorithm, we compare the results with those of a RC low frequency band filter.

• 대한전기학회논문지
• /
• 제35권2호
• /
• pp.77-84
• /
• 1986

The design of observers for the systems with unknown and unmeasurable disturbances is treated. A generalized observer design method is proposed and existence conditions are established by combining the existing two different approaches` disturbance modelling approach by O'Reilly and algebraic approach by Kudva et. al.. The proposed approach, therefore, takes the advantages and removes the shortcomings of the existing two approaches in view points of dimensionality and existence conditions of the observer. To show the usefulness of the approach, a numerical example is given.

• International Journal of Control, Automation, and Systems
• /
• 제5권1호
• /
• pp.93-98
• /
• 2007

A class of new observers in descriptor linear systems, proportional-derivative(PD) observers, are proposed. A parametric design approach for such observers is proposed based on a complete parametric solution to the generalized Sylvester matrix equation. The approach provides complete parameterizations for all the observer gains, gives the parametric expression for the corresponding left eigenvector matrix of the observer system matrix, realizes elimination of impulsive behaviors, and guarantees the regularity of the observer system.