Inverse-Dynamics Based State and Disturbance Observers for Linear Time-Invariant Systems

2002 ◽  
Vol 124 (3) ◽  
pp. 375-381 ◽  
Author(s):  
Chia-Shang Liu ◽  
Huei Peng
Keyword(s):  
Inverse Dynamics ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Design Procedure ◽  
Ground Vehicle ◽  
Linear Time Invariant ◽  
Linear Time Invariant Systems ◽  
Disturbance Model ◽  
Rank Conditions ◽  
Time Invariant

An output-feedback observer is proposed in this paper to simultaneously estimate unknown states and disturbances of linear time invariant systems. The states are estimated using a Luenberger-like observer while the disturbance signals are estimated based on an inverse-dynamics motivated algorithm. The proposed schemes can be applied to a wide variety of disturbances since no disturbance model is required in the estimation. Depending on the input/output rank conditions of the plant, two different designs are proposed. The observer gains are selected based on sufficient conditions for exponentially converging estimation. The design procedure is illustrated step-by-step by using two examples: a hypothetical problem and the ground vehicle lateral speed estimation problem. A standard H∞-filter is used as the benchmark to illustrate the performance of the proposed method.

Zeno-free adaptive event-triggered control design

2018 ◽  
Vol 41 (8) ◽  
pp. 2328-2337 ◽  
Author(s):  
Hassan Adloo ◽  
Mohammad Hossein Shafiei
Keyword(s):  
Degrees Of Freedom ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Performance Criterion ◽  
Linear Time Invariant ◽  
Event Triggering ◽  
Linear Time Invariant Systems ◽  
System States ◽  
Time Invariant ◽  
Event Triggered

This paper presents a new general framework for adaptive event-triggered control strategy to extend average inter-event interval, while maintaining the performance of the system. The proposed event-triggering mechanism is acquired from input to state stability conditions, which is defined in terms of system states as well as an adaptation parameter. Under the Lipschitz assumption, a positive lower bound on sampling durations is also established that is essential to restrain the Zeno behavior. Applying the proposed method to linear time-invariant systems, leads to sufficient conditions to guarantee asymptotic stability in the form of matrix inequalities. Moreover, it is shown that there exist more degrees of freedom to improve the performance criterion from theoretical aspects. Finally, in order to show capability of the proposed method and its better performance compared with some recent works, numerical simulations are presented.

DISSIPATIVE DYNAMICAL SYSTEMS IN A BEHAVIORAL CONTEXT

1991 ◽  
Vol 01 (01) ◽  
pp. 1-25 ◽  
Author(s):  
SIEP WEILAND ◽  
JAN C. WILLEMS
Keyword(s):  
Dynamical Systems ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Dissipative System ◽  
Linear Time Invariant ◽  
Linear Time Invariant Systems ◽  
Dissipative Dynamical Systems ◽  
Necessary And Sufficient ◽  
Lq Theory ◽  
Time Invariant

Various conceptual definitions of dissipativeness of time invariant dynamical systems are introduced. A formal distinction is made between external and internal dissipativeness and it is shown that, under certain conditions, these notions are equivalent. A characterization of the class of internal storage functions associated with a dissipative system is given. The results are applied to the class of finite-dimensional linear time invariant systems. Necessary and sufficient conditions for dissipativeness of systems in this class are derived and the relation to LQ-theory is discussed.

scholarly journals Sign-Consensus of Linear Multiagent Systems under a State Observer Protocol

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-6
Author(s):  
Wei-Lu Diao ◽  
Cui-Qin Ma
Keyword(s):  
Linear Time ◽  
Sufficient Conditions ◽  
State Observer ◽  
Matrix Analysis ◽  
Positive Sign ◽  
Consensus Protocol ◽  
Linear Time Invariant ◽  
Signed Digraph ◽  
Linear Time Invariant Systems ◽  
Time Invariant

The sign-consensus problem for linear time-invariant systems under signed digraph is considered. The information of the agents’ states is reconstructed, and then, a state observer-type sign-consensus protocol is proposed, whose performance is analyzed using matrix analysis and ordinary differential equation theory. Sufficient conditions for ensuring sign-consensus are given. It is proven that if the adjacency matrix of the signed digraph has strong Perron–Frobenius property or is eventually positive, sign-consensus can be achieved under the proposed protocol. In particular, conventional consensus is a special case of sign-consensus under mild conditions.

scholarly journals Simultaneous exact model matching with stability by output feedback

2017 ◽  
Vol 68 (2) ◽  
pp. 148-152
Author(s):  
Konstadinos H. Kiritsis
Keyword(s):  
Output Feedback ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Dynamic Output Feedback ◽  
Model Matching ◽  
Linear Time Invariant ◽  
Exact Model ◽  
Linear Time Invariant Systems ◽  
Necessary And Sufficient ◽  
Time Invariant

Abstract In this paper, is studied the problem of simultaneous exact model matching by dynamic output feedback for square and invertible linear time invariant systems. In particular, explicit necessary and sufficient conditions are established which guarantee the solvability of the problem with stability and a procedure is given for the computation of dynamic controller which solves the problem.

scholarly journals Reliable disturbance rejection

2005 ◽  
Vol 16 (1) ◽  
pp. 56-59
Author(s):  
Pedro M. G. Ferreira
Keyword(s):  
General Problem ◽  
Disturbance Rejection ◽  
Linear Time ◽  
Sufficient Conditions ◽  
Factorization Approach ◽  
Linear Time Invariant ◽  
Actuator Failures ◽  
Linear Time Invariant Systems ◽  
Necessary And Sufficient ◽  
Time Invariant

The paper studies the reliability (sensor and actuator failures) of the asymptotic disturbance rejection problem for linear time invariant systems using the factorization approach, assuming that not all loops fail simultaneously and that sensor and actuator do not fail simultaneously. The plant is two-output, i.e. two-vector-output, and the disturbance is at the measured output of the plant. Necessary and sufficient conditions are presented for the general problem and a simple solution is given for problems with stable plants.

Multivariable Disturbance Rejection Tracking Controllers for Systems With Slow and Fast Modes

1987 ◽  
Vol 109 (4) ◽  
pp. 363-369 ◽  
Author(s):  
Suhada Jayasuriya
Keyword(s):  
Linear Time ◽  
Design Procedure ◽  
Singularly Perturbed ◽  
Linear Time Invariant ◽  
Singular Perturbation Methods ◽  
Tracking Controllers ◽  
Asymptotic Tracking ◽  
Ill Conditioning ◽  
Linear Time Invariant Systems ◽  
Time Invariant

In this paper we consider the design of controllers for a class of singularly perturbed multi-input-multi-output linear time-invariant systems where the objective is asymptotic tracking in the presence of persisting disturbances. The controller structure consists of a precompensator and a stabilizing compensator used in conjunction with a full order observer. Singular perturbation methods are used to obtain various components of the control system so that numerical ill conditioning is avoided. The design procedure is illustrated by synthesizing a controller for a second order singularly perturbed plant.

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