Feed forward filters for state and disturbance estimation

Author

Radke, Aaron ; Miklosovic, Robert ; Fast, Brian

Author_Institution

Lockheed Martin, Bethesda

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

4299

Lastpage

4304

Abstract

This paper introduces a method for representing an observer as a set of decoupled filters to provide an understanding of observer design for the practitioner. The concept uses feed forward information to predict and cancel phase lag inherent in common filters. A general modeling paradigm is also proposed to simplify disturbance rejection techniques. Both ideas are applied to analyze and compare approximate differentiators, state observers, disturbance observers (DOB), unknown input observers (UIO), and extended state observers (ESO).

Keywords

filtering theory; observers; decoupled filters; disturbance observers; disturbance rejection techniques; extended state observers; feed forward filters; state estimation; unknown input observers; Data mining; Feedback control; Feeds; Frequency estimation; Information filtering; Information filters; Observers; State estimation; State feedback; Uncertainty; differentiator; disturbance observer; extended state observer; feed forward; feedback control; signal filtering; state estimation; unknown input observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434969

Filename

4434969