Abstract
VSS observers are considered for continuous-time systems, in which the nominal plant model is linear, but there exist bounded plant and output uncertainties. We first present a design method of a VSS observer based on use of some extensions of a conventional approach that uses an algebraic Lyapunov equation. It is then shown that such a method cannot be successfully applied to the system with any linear part, if we desire to use a unique solution to the algebraic Lyapunov equation. Namely, this method is only applicable to a restricted class of systems. In order to develop a VSS observer applicable to a wider class of systems, we next propose a design method based on use of an algebraic Riccati equation, associated with a linear filtering problem. A relationship between the two design methods is also discussed. Simulation results show that the proposed method is effective for designing a VSS observer for a second-order nonlinear system with band limited output noise, as the output uncertainty.
Original language | English |
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Pages (from-to) | 416-424 |
Number of pages | 9 |
Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
Volume | 40 |
Issue number | 3 |
DOIs | |
Publication status | Published - Sep 1997 |
Externally published | Yes |
Keywords
- Algebraic Lyapunov Equation
- Algebraic Riccati Equation
- Nonlinear Observer
- Nonlinear Systems
- Output Uncertainties
- Robust Estimation
- VSS Observer
- Variable Structure Systems (VSS)
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering