In this paper, a discretization-based sliding mode observer (DBSMO) is proposed for the state and parameter estimation of nonlinear systems. In the DBSMO structure, an accurate discretized dynamics are derived for the state and parameter update of the sliding mode observer (SMO) instead of integration-based state update. In this way, faster converging observer dynamics are obtained. The stability properties of the conventional SMO remain the same for DBSMO. In the application presented here, first a real-time DC/DC power converter is designed with a computer interface. Then, to show the enhancement of convergence properties, conventional SMO and DBSMO-based model predictive controllers are designed and applied to control of the DC/DC power converter. Through simulation and experimental results, it is shown that the estimation performance of SMO is greatly improved so that the tracking performance is also increased, which are the main contributions of the paper.
This paper presents the very first field-programmable gate array (FPGA) implementation of the Runge-Kutta model predictive control (RKMPC) mechanism to the real-time experimental electromagnetic levitation system, which is an unstable nonlinear continuous-time system with a very small time constant. In the control mechanism, the so called Runge-Kutta model of the nonlinear system is employed as an approximate discrete-time model of the system and used in the model predictive control loop for prediction and derivative calculation purposes. Experimental results have shown the effectiveness of the proposed implementation under different control conditions. Moreover, the RKMPC has been compared to a conventional nonlinear model predictive control (NMPC) method to show the advantages of the RKMPC over the NMPC.
This paper introduces an efficient observer design for leak detection and isolation of pipeline networks. The designed observer can be applied to the multistage pipeline networks with distributed leaks. The position and flow rate of the several leaks can be estimated efficiently. The designed observer is based on the discretized model of the system so called "Discretization Based Observer". For computer applications, two leaks with different positions and flow rates have been considered in a 150 meter pipe. After 5 seconds measurements and estimations, accurate leak estimations have been obtained. Comparing to the literature observers, simultaneous state and parameter estimations are obtained with fast convergence by the designed observer.
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