Estimation based control of flexible systems-sensorless wave based technique

This paper presents an algorithm for parameters and positions estimation of lumped flexible systems. As soon as the parameters and the positions are estimated they can be used to design virtual sensors that can be moved along the system to estimate the position of any lumped mass keeping the system free from any attached sensors. The virtual sensors are nothing but a chain of estimators that are connected at the end of each other, starting with two actuator´s measurements and ending up with system parameters and all the system lumped positions. An estimation based PID controller is presented based on the feedback of the virtual sensor´s estimates instead of the actual measurement.