A Kalman Filter Approach to Model-error Control Synthesis
Author | : Jemin George |
Publisher | : |
Total Pages | : 198 |
Release | : 2007 |
ISBN-10 | : OCLC:71446554 |
ISBN-13 | : |
Rating | : 4/5 (54 Downloads) |
Book excerpt: This thesis introduces two new techniques by which the model-error control synthesis approach can be implemented on a nonlinear system. The first method utilizes two separate extended Kalman filters. Among the two filters, one is strictly used for noise filtration/state estimation and the other is used for model error prediction. The second scheme exploits a single extended Kalman filter for the simultaneous estimation of the system states and the model error. The simulation results indicate that the new model-error control synthesis approaches are extremely effective in providing closed-loop robustness in the presence of noisy measurement signal. Finally, a sensitivity of the controlled closed-loop system stability with respect to the process noise covariance is presented.