Observers for multivariable systems

Luenberger, David G.

doi:10.1109/tac.1966.1098323

Cited by 1,488 publications

(491 citation statements)

References 5 publications

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“…The actual plant states are estimated by an observer (e.g. a Luenberger observer [12]), to compensate for the case when some of them are missing, or for redundancy and noise cancellation.…”

Section: Problem Formulationmentioning

confidence: 99%

“…The new implementations, are either given and retrieved from the knowledge base or they are calculated online. We assume the actuators are driven by a simple proportional controller, while the system states are estimated (mostly for compensation of missing measurements) with a simple Luenberger full-state observer [12], as shown in (6).…”

Section: The Controller and Observer Implementationsmentioning

confidence: 99%

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Exploring Semantic Mediation Techniques in Feedback Control Architectures

Milis

Panayiotou

2013

IFIP Advances in Information and Communication Technology

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Abstract. Modern control systems implementations, especially in large-scale systems, assume the interoperation of different types of sensors, actuators, controllers and software algorithms, being physical or cyber. In most cases, the scalability and interoperability of the control system are compromised by its design, which is based on a fixed configuration of specific components with certain knowledge of their specific characteristics. This work presents an innovative feedback control architecture framework, in which classical and modern feedback control techniques can be combined with domain knowledge (thematic, location and time) in order to enable the online plugging of components in a feedback control system and the subsequent reconfiguration and adaptation of the system.

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“…The actual plant states are estimated by an observer (e.g. a Luenberger observer [12]), to compensate for the case when some of them are missing, or for redundancy and noise cancellation.…”

Section: Problem Formulationmentioning

confidence: 99%

Section: The Controller and Observer Implementationsmentioning

confidence: 99%

Exploring Semantic Mediation Techniques in Feedback Control Architectures

Milis

Panayiotou

2013

IFIP Advances in Information and Communication Technology

View full text Add to dashboard Cite

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“…Luenberger observer for state reconstruction in deterministic systems-The Luenberger observer reconstructs the state of a dynamic system from partial observations of the system's outputs (Luenberger 1965). A full-order observer reconstructs all the state variables whether they are directly observed or not (Fig.…”

Section: State Estimation and Parameter Estimation Paradigmsmentioning

confidence: 99%

Internal models in sensorimotor integration: perspectives from adaptive control theory

2005

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Internal model and adaptive control are empirical and mathematical paradigms that have evolved separately to describe learning control processes in brain systems and engineering systems, respectively. This paper presents a comprehensive appraisal of the correlation between these paradigms with a view to forging a unified theoretical framework that may benefit both disciplines. It is suggested that the classic equilibrium-point theory of impedance control of arm movement is analogous to continuous gain-scheduling or high-gain adaptive control within or across movement trials, respectively, and that the recently proposed inverse internal model is akin to adaptive sliding control originally for robotic manipulator applications. Modular internal models architecture for multiple motor tasks is a form of multi-model adaptive control. Stochastic methods such as generalized predictive control, reinforcement learning, Bayesian learning and Hebbian feedback covariance learning are reviewed and their possible relevance to motor control is discussed. Possible applicability of Luenberger observer and extended Kalman filter to state estimation problems such as sensorimotor prediction or the resolution of vestibular sensory ambiguity is also discussed. The important role played by vestibular system identification in postural control suggests an indirect adaptive control scheme whereby system states or parameters are explicitly estimated prior to the implementation of control. This interdisciplinary framework should facilitate the experimental elucidation of the mechanisms of internal model in sensorimotor systems and the reverse engineering of such neural mechanisms into novel brain-inspired adaptive control paradigms in future.

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“…The complete fault detection scheme consists of two parts: the estimator and a change detection procedure (used to decide whether the estimator and the system are sufficiently different to declare the presence of faults/attacks). We use observers, (Luenberger, 1966;Nijmeijer and Mareels, 1997), as estimators; and the chi-squared procedure for change detection (Gustafsson, 2000). The main contribution of the paper is a set of mathematical tools for quantifying and minimizing the impact of sensor attacks on the system dynamics.…”

Section: Introductionmentioning

confidence: 99%

Reachable Sets of Hidden CPS Sensor Attacks: Analysis and Synthesis Tools

2017

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For given system dynamics, control structure, and fault/attack detection procedure, we provide mathematical tools-in terms of Linear Matrix Inequalities (LMIs)-for characterizing and minimizing the set of states that sensor attacks can induce in the system while keeping the alarm rate of the fault detector sufficiently close to its false alarm rate in the attack-free case. This quantifies the attack's potential impact when it is constrained to stay hidden from the detector. Simulation results are presented to illustrate the performance of our tools.

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Observers for multivariable systems

Cited by 1,488 publications

References 5 publications

Exploring Semantic Mediation Techniques in Feedback Control Architectures

Exploring Semantic Mediation Techniques in Feedback Control Architectures

Internal models in sensorimotor integration: perspectives from adaptive control theory

Reachable Sets of Hidden CPS Sensor Attacks: Analysis and Synthesis Tools

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