Proceedings of the Korean Society of Machine Tool Engineers Conference (한국공작기계학회:학술대회논문집)
- 2003.04a
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- Pages.39-44
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- 2003
Robust Observer Design for Multi-Output Systems using Eigenstructure
고유구조를 이용한 다중출력 시스템의 강인한 관측기 설계
Abstract
It was shown that the robustness of deterministic observers with respect to modeling errors, measurement bias and round-off errors can be represented by a single performance index the condition number of the observer eigenvector matrix. In this paper, a robust observer for multi-output systems is designed using the left eigenstructure assignment, where the observer gain can not be determined uniquely with respect to the desired observer poles. Utilizing the eigenstructuer assignment for the robustness of the observer, the desired eigenvector matrix is selected to achieve the observer eigenvector matrix with the small condition number. The performance of the designed robust observer is evaluated in a spindle-drive simulation example where the load speed to be estimated based on the measured signals.