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http://dx.doi.org/10.3795/KSME-A.2004.28.11.1621

Robust Observer Design for Multi-Output Systems Using Eigenstructure Assignment  

Huh, Kun-Soo (한양대학교 기계공학부)
Nam, Joon-Chul (한양대학교 정밀기계공학과 대학원)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.11, 2004 , pp. 1621-1628 More about this Journal
Abstract
This paper proposes a design methodology for the robust observer using the eigenstructure assignment in multi-output systems so that the observer is less sensitive to the ill-conditioning factors such as unknown initial estimation error, modeling error and measurement bias in transient and steady-state observer performance. The robustness of the observer can be achieved by selecting the desired eigenvector matrix to have a small condition number that guarantees the small upper bound of the estimation error. So the left singular vectors of the unitary matrix spanned by space of the achievable eigenvectors are selected as a desired eigenvectors. Also, this paper proposes how to select the desired eigenvector based on the measure of observability and designs the observer with small gain. An example of a spindle drive system is simulated to validate the robustness to the ill-conditioning factors in the observer performance.
Keywords
Robust Observer; Condition Number; Eigenstructure; Sylvester Equation; Measure of observability;
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