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ESTIMATION AND CONTROL OF SOME UNMEASURED VARIABLE IN THE PRESENCE OF BACKLASH
Alexandru Ioan Ticlea*, Gildas Besançon**, Dumitru Popescu*
* Faculty of Automatic Control and Computer Science,
UPB 313 Splaiul Independentei St., 77206 Bucharest 6, Romania
{ticlea, dpopescu}@router.indinf.pub.ro
** Laboratoire d’Automatique de Grenoble,
ENSIEG BP46, 38402 Saint Martin d’Heres, France
Gildas.Besancon@inpg.fr
This paper is on the digital control of a continuous-time non-linear system by observer-based state feedback. Some discrete-time observer and controller are built on-line at each sample time according to the linear approximation of the system about the current estimation point. This methodology is exemplified through numerical simulation of some load speed control in a mechanical system subjected to backlash and only using the measurement of the driving motor speed.
Keywords: Non-linear systems, Function approximation, Linearization, Backlash, Extended Kalman filter, Digital control
Session slot T-We-A16: Observer Based Control/Area code 2a : Control Design
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