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TECHNICAL PAPERS

Observability, Reconstructibility and Observer Design for Linear Mechanical Systems Unobservable in Absence of Impacts†

[+] Author and Article Information
Francesco Martinelli, Laura Menini, Antonio Tornambè

Dipartimento di Informatica, Sistemi e Produzione, Università di Roma Tor Vergata, via del Politecnico, 1, 00133 Roma, ItalyEmail: [martinelli,menini,tornambe]@disp.uniroma2.it

J. Dyn. Sys., Meas., Control 125(4), 549-562 (Jan 29, 2004) (14 pages) doi:10.1115/1.1636195 History: Received August 29, 2002; Revised May 01, 2003; Online January 29, 2004
Copyright © 2003 by ASME
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Figures

Grahic Jump Location
The system considered in Sec. 3.4
Grahic Jump Location
Time behavior of the position and velocity variables (continuous lines) and of their estimates (dashed lines) for the simulation described in Sec. 3.4. In the lower left-side plot, the difference f2,3(t)=q2(t)−q3(t) is reported, in order to emphasize the impacts.
Grahic Jump Location
Time behavior of the estimation errors for the simulation described in Sec. 3.4
Grahic Jump Location
The system considered in Sec. 4.4.
Grahic Jump Location
Time behavior of the position and velocity variables (continuous lines) and of their estimates (dashed lines) for the simulation described in Sec. 4.4. In the lower left-side plot, the difference f1,2(t)=q1(t)−q2(t) is reported, in order to emphasize the impacts.
Grahic Jump Location
Time behavior of the estimation errors for the simulation described in Sec. 4.4

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