Title :
The response of observer based regulators designed by the separation principle
Author :
Polotski, Vladimir
Author_Institution :
Groupe de Recherche en Perception et Robotique, Ecole Polytech. de Montreal, Que., Canada
Abstract :
Transition processes in the system incorporating an observer are analyzed. The symmetry of transition matrix with respect to the eigenvalues assigned for controller and observer is proved using state space methods. The interrelation with peaking phenomenon is discussed, and the asymptotic behavior of the system for the case of fast observer dynamics is investigated. Some illustrative examples and application to the tracking control of an autonomous vehicle are presented
Keywords :
eigenvalues and eigenfunctions; matrix algebra; mobile robots; observers; pole assignment; robot dynamics; state feedback; state-space methods; tracking; SISO systems; autonomous vehicle; dynamics; eigenvalues; mobile robots; observer based regulators; output feedback; peaking phenomenon; pole assignment; separation principle; state feedback; state space methods; symmetry; tracking control; transition matrix; Control systems; Eigenvalues and eigenfunctions; Interconnected systems; Mobile robots; Observers; Regulators; State estimation; State feedback; State-space methods; Vehicle dynamics;
Conference_Titel :
Electrical and Computer Engineering, 1996. Canadian Conference on
Conference_Location :
Calgary, Alta.
Print_ISBN :
0-7803-3143-5
DOI :
10.1109/CCECE.1996.548201
