In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means of singular perturbation analysis, we prove that the closed-loop system is asymptotic stable; (2) We solve the problem of how faster the observer should be than the observer-based control. server's dyn...

In this paper, an extended observer was investigated and then implemented for generating approximate state feedback for an Internal Combustion (IC) engine. IC engines are inherently highly nonlinear in nature, therefore, present a problem for system modeling and observer design. A state-dependent gain scheduling control was used to improve state estimation. An extended observer was implemented ...

An unknown input high gain observer based parametric fault detection and isolation scheme is presented. First, a reduced order unknown input high gain observer is derived. Then, using these observers, a fault detection and isolation technique is devised to detect and isolate the parametric fault of a system whose parameters are uncertain to some extent. The proposed FDI algorithm consists of tw...

The conventional sliding mode controller needs the exact knowledge of system state measurements. In this study, nonlinear second order systems with unmeasured system states and bounded external disturbances are considered. The sliding mode observer based on nonlinear observation error dynamics is considered and the observer gain is adjusted by using a support vector machine based plant model. F...

1 *Assistant Professor, Electrical and Computer Engineering Department, Kharazmi University, Tehran, Iran,: [email protected], 2 .Associated Professor, Faculty of Electrical Engineering, Tarbiat Modares University, Tehran, Iran. 3 .Assistant Professor, Faculty of Electrical Engineering, Tarbiat Modares University, Tehran, Iran Abstract Non-fragile H ∞ observer design is the main problem of th...

ph control is a challenging problem due to its highly nonlinear nature. in this paper the performances of two different adaptive global linearizing controllers (glc) are compared. least squares technique has been used for identifying the titration curve. the first controller is a standard glc based on material balances of each species. for implementation of this controller a nonlinear state est...

We address the problem of state observation for a system whose dynamics may involve poorly known, perhaps even nonlocally Lipschitz functions and whose output measurement may be corrupted by noise. It is known that one way to cope with all these uncertainties and noise is to use a high-gain observer with a gain adapted on-line. The proposed method, while presented for a particular case, relies ...