High-gain observers in nonlinear feedback control

Khalil, Khalil

doi:10.1109/iccas.2008.4694705

Cited by 202 publications

(248 citation statements)

References 104 publications

Supporting

Mentioning

241

Contrasting

Unclassified

Order By: Relevance

“…Remark The system structure does not satisfy the standard assumptions for high gain observer design (e.g., Refs . ). However, the recognition that the control action is implemented in a discrete fashion allows invoking the relaxation on the system structure, as presented in Ref .…”

Section: Control Objectivementioning

confidence: 97%

Fault detection and isolation analysis and design for solution copolymerization of MMA and VAc process

Shahnazari

Mhaskar

2015

AIChE Journal

View full text Add to dashboard Cite

The problem of detecting and isolating distinguishable actuator and sensor faults in the solution copolymerization of methyl methacrylate and vinyl acetate monomers are considered in this work. To this end, first state estimates are generated using a bank of high-gain observers, and nonlinear fault detection and isolation (FDI) residuals are defined. The process dynamics are further analyzed to categorize fault scenarios as distinguishable and indistinguishable, and the necessary and sufficient conditions for the classification are presented. Subsequently, filters are designed that enable FDI for the distinguishable fault scenarios, with the advantage of detecting and confining possible locations for indistinguishable faults. The FDI filters are implemented on the copolymerization process, and the results compared with a linear model based filter design. Process Description and ModelIn this section, the methyl methacrylate (MMA) and vinyl acetate (VAc) solution copolymerization process is described, where monomers A (MMA) and B (VAc) are continuously fed Correspondence concerning this article should be addressed to P. Mhaskar at mhaskar@mcmaster.ca.

show abstract

Section: Control Objectivementioning

confidence: 97%

Fault detection and isolation analysis and design for solution copolymerization of MMA and VAc process

Shahnazari

Mhaskar

2015

AIChE Journal

View full text Add to dashboard Cite

show abstract

“…The literature on nonlinear observers reports various attempts of improvement by relaxing system assumptions and devising less conservative design conditions (see, e.g., [28,29]). Among others, the so-called high-gain observer has become quite popular [30], especially for the purpose of output feedback control [31]. More recently, Lyapunov functionals have been proposed in [32] to prove stability for time-varying high-gain observers in line with the idea of reducing the peaking during the transient [33,34].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov Functions for State Observers of Dynamic Systems Using Hamilton–Jacobi Inequalities

Alessandri

2020

Mathematics

View full text Add to dashboard Cite

Lyapunov functions enable analyzing the stability of dynamic systems described by ordinary differential equations without finding the solution of such equations. For nonlinear systems, devising a Lyapunov function is not an easy task to solve in general. In this paper, we present an approach to the construction of Lyapunov funtions to prove stability in estimation problems. To this end, we motivate the adoption of input-to-state stability (ISS) to deal with the estimation error involved by state observers in performing state estimation for nonlinear continuous-time systems. Such stability properties are ensured by means of ISS Lyapunov functions that satisfy Hamilton–Jacobi inequalities. Based on this general framework, we focus on observers for polynomial nonlinear systems and the sum-of-squares paradigm to find such Lyapunov functions.

show abstract

“…The second deals with the application of friction models to design a tracking controller based on the active disturbance rejection (ADR) paradigm originally introduced by Han and Gao [7,8]. The considered control strategy enables an adaptation to unknown dynamic terms of the process using a high-gain observer, [11]. Thus, it is possible to consider the ADR as a particular implementation of the concept of free-model control, [5,6].…”

Section: Introductionmentioning

confidence: 99%

Identification of a Dynamic Friction Model and Its Application in a Precise Tracking Control

Piasek¹,

Patelski²,

Pazderski³

et al. 2019

ACTA POLYTECH HUNG

View full text Add to dashboard Cite

The goal of this paper is to examine the friction behaviour in a one-degree mechanical system designed for precise tracking. Friction as one of the main disturbances present in this system strongly influences its performance, which is most visible during the velocity reversals. Identification and compensation of the friction are crucial to achieve high tracking accuracy at very low velocities. In this paper the procedure for identification of static and dynamic frictional parameters of LuGre is presented. The experimental results show characteristic behaviours of friction present both in sliding and in presliding regime. Furthermore, it is experimentally proven in several control scenarios that dynamic friction model compensation causes significant decrease of trajectory tracking error.

show abstract

High-gain observers in nonlinear feedback control

Cited by 202 publications

References 104 publications

Fault detection and isolation analysis and design for solution copolymerization of MMA and VAc process

Fault detection and isolation analysis and design for solution copolymerization of MMA and VAc process

Lyapunov Functions for State Observers of Dynamic Systems Using Hamilton–Jacobi Inequalities

Identification of a Dynamic Friction Model and Its Application in a Precise Tracking Control

Contact Info

Product

Resources

About