A Comparison of Predictive Parameter Estimation using Kalman Filter and Analysis of Variance

The design of a controller significantly improves if internal states of a dynamic control system are predicted. This paper compares the prediction of system states using Kalman filter and a novel approach analysis of variance (ANOVA). Kalman filter has been successfully applied in several applications. A significant advantage of Kalman filter is its ability to use system output to predict the future states. It has been observed that Kalman filter based predictive controller design outperforms many other approaches. An important drawback of such controllers is however that their performances deteriorate in situations where the system states have no correlation with the output. This paper takes a hypothetical model of a helicopter and builds system model using the statespace diagram. The design is implemented using SIMULINK. It has been observed that in situations where the states are dependent on system output, the ANOVA based state prediction gives comparable results with that of Kalman filter based parameter estimation. The ANOVA based parameter prediction, however outperforms Kalman filter based parameter prediction in situations where the output does not directly contribute in a particular state. The research was based on empirical results. Rigorous testing was performed on four internal states to prove that ANOVA based predictive parameter estimation technique outperforms Kalman based parameter estimation in situations where the system internal states is not directly linked with the output. Keywords—Analysis of variance (ANOVA); Kalman controllers; predictive controller