T-2-4-1 Design of the Well-Conditioned Observer Using the Non-Normality Measure

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概要

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• In this paper, the well-conditioned observer is designed so that the observer is less sensitive to the ill-conditioning factors in transient and steady-state observer performance. An L_2-norm based condition number of the observer eigenvector matrix has been proposed as a main index in the observer performance. For the well-conditioned observer design, the non-normality measure and the observability condition of the observer matrix are considered. These two constraints are specified into the desirable observer gain region that satisfies a small condition number and a stable observer. The observer gain selected in this region guarantees well-conditioned estimates in the observer performance. In this study, well-conditioning properties are investigated regarding the Luenberger observer and the Kalman filter for 2^<nd> order systems. In designing Kalman filters, the covariance ratio between the process noise and the measurement noise is shown to be a design variable and its effect on the condition number is characterized.

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著者

• Huh Kunsoo

  School Of Mechanical Engineering Hanyang University

• Jung Jongchul

  Dept. of Precision Mechanical Engineering, Hanyang University

• Jung Jongchul

  Dept. Of Precision Mechanical Engineering Hanyang University

• Huh Kunsoo

  School of Mechanical Engineering, Hanyang University

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