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TECHNICAL PAPERS

Discrete-Time Well-Conditioned State Observer Design and Evaluation

[+] Author and Article Information
Kunsoo Huh

School of Mechanical Engineering, Hanyang University, Haengdang-dong 17th, Sungdong-ku, Seoul 133-791, Koreae-mail: khuh2@hanyang.ac.kr

Jongchul Jung

Department of Precision Mechanical Engineering, Hanyang University, Haengdang-dong 17th, Sungdong-ku, Seoul 133-791, Korea

Jeffrey L. Stein

Department of Mechanical Engineering and Applied Mechanics, The University of Michigan, Ann Arbor, MI 48109-2125e-mail: stein@umich.edu

J. Dyn. Sys., Meas., Control 123(4), 615-622 (Feb 07, 2001) (8 pages) doi:10.1115/1.1409553 History: Received February 07, 2001
Copyright © 2001 by ASME
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References

Sobel, K. M., Banda, S. S., and Shapiro, E. Y., 1988, “Robust Modalized Observer with Flight Control Application,” Proc. IEEE, CDC, pp. 1018–1019.
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Galimidi,  A. R., and Barmish,  B. R., 1984, “Robustness of Luenberger Observers: Linear Systems Stabilized Via Nonlinear Control,” Proc. IEEE, ACC, 2, pp. 968–974.
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Shafai,  B., and Carroll,  R. L., 1985, “Design of Proportional-Integral Observer for Linear Time-Varying Multivariable Systems,” Proc. IEEE, CCA, pp. 597–599.
Huh,  K., and Stein,  J. L., 1994, “A Quantitative Performance Index for Observer-Based Monitoring Systems,” ASME J. Dyn. Syst., Meas., Control, 116, No. 3, pp. 487–497.
Huh,  K., and Stein,  J. L., 1995, “Well-Conditioned Observer Design for Model-based Monitoring Systems,” ASME J. Dyn. Syst., Meas., Control, 117, No. 4, pp. 592–599.
Luenberger,  D. G., 1966, “Observers for Multivariable systems,” IEEE Trans. Autom. Control, 11, pp. 190–197.
Wilkinson, J. H., 1965, The Algebraic Eigenvalue Problem. Clarendon Press, Oxford.
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Golob, G. H., and Van Loan, C. F., 1989, Matrix Computations, The Johns Hopkins University Press, Baltimore and London.
Huh,  K., and Stein,  J. L., 1997, “A Non-normality Measure of the Condition Number for Monitoring and Control,” ASME J. Dyn. Syst., Meas., Control, 119, No. 2, pp. 217–222.
Grewal, M. S., and Andrews, A. P., 1993, Kalman Filtering, Prentice Hall.

Figures

Grahic Jump Location
κ2(P) due to selection of observer gains
Grahic Jump Location
Observable and well-conditioned gain region
Grahic Jump Location
Experimental setup (Example 3)
Grahic Jump Location
Estimation results (Luenberger observer)
Grahic Jump Location
Estimation results (well-conditioned observer)
Grahic Jump Location
Performance index values w.r.t. Q/R

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