Design and implementation of a state observer for a textile machine

This article deals with the problem of designing observers for the tension of a string that emulates an elastic band in a didactic textile machine. It develops a mathematical model of the real system from which a parameter identification problem is defined for its correct characterization. Then, four state observers are designed and their performance measured in four different scenarios. The resulting implementations of three of the observers is presented and the comparison of their performance indices in the same scenarios.