State estimator synthesis for position dependent flexible systems with position independent error convergence

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Abstract

In this paper a state estimator for high tech flexible systems with an inherent nonlinearity in the output dynamics is proposed. We consider an application in which sensor measurements of the flexible system become parameter (position) dependent. An LPV setting is proposed for the design of estimators that estimate flexible modes of the system. The possibility of pole placement for the error dynamics is investigated and characterized. In particular, necessary and sufficient conditions are derived for the estimator convergence to be parameter independent. In addition, an eigenvalue-shifting technique that improves the convergence of the estimated flexible modes is presented. Simulation results on a basic example and a full flexible system model are used to demonstrate the merits of the proposed estimation algorithms.
Original languageEnglish
Title of host publicationProceedings of the 23th Mediterranean Conference on Control and Automation (MED), 16-19 June 2015, Torremolinos, Spain
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages1065-1070
Number of pages6
DOIs
Publication statusPublished - 17 Jun 2015
EventControl and Automation (MED) 23th Mediterranean Conference on - Torremolinos, Spain
Duration: 16 Jun 201519 Jun 2015

Conference

ConferenceControl and Automation (MED) 23th Mediterranean Conference on
CountrySpain
CityTorremolinos
Period16/06/1519/06/15

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