Robust GPI observer under noisy measurements

Author

Martinez-Vazquez, Daniel L. ; Rodriguez-Angeles, Alejandro ; Sira-Ramirez, Hebertt

Author_Institution

Dept. of Electr. Eng., CINVESTAV-IPN, Mexico City, Mexico

fYear

2009

fDate

10-13 Jan. 2009

Firstpage

1

Lastpage

5

Abstract

In this paper, a new approach for the Generalized Proportional Integral Observer when only noisy measurements are available is proposed, based in a integral extention of the system and observer model. A comparison of the GPI observer to the new approach is given via an academic simulation example. With this approach, is possible to estimate completely unknown, but bounded, perturbations and the states of the system, such that a perturbation-cancel plus PD compensation control is proposed for trajectory tracking tasks.

Keywords

PI control; nonlinear control systems; observers; PD compensation control; generalized proportional integral observer; noisy measurements; robust GPI observer; trajectory tracking task; Information technology; Knowledge based systems; Knowledge management; Laboratories; Linear discriminant analysis; Ontologies; Robustness; Taxonomy; Vocabulary; GPI; noisy measurement; observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on

Conference_Location

Toluca

Print_ISBN

978-1-4244-4688-9

Electronic_ISBN

978-1-4244-4689-6

Type

conf

DOI

10.1109/ICEEE.2009.5393403

Filename

5393403