New state observer gain tuning methodology based on the stable margin theory

Kenji Ogawa, Kouhei Ohnishi, Yousef Ibrahim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a new observer gain tuning methodology to achieve a robust position control. The state observer is often used to estimate the state of the system. Generally, the observer gain is tuned by an evaluation function and the operator needs to arbitrarily select a weight function to obtain an optimal observer gain. This paper introduces a methodology for observer gain tuning using the stability margin theory. In addition, the state observer is combined with the Disturbance Observer (DOB) to achieve a robust position control. The validity of the proposed methodology was tested and confirmed by simulations and experimental study.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Industrial Technology, ICIT 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages677-682
Number of pages6
ISBN (Electronic)9781509053209
DOIs
Publication statusPublished - 2017 Apr 26
Event2017 IEEE International Conference on Industrial Technology, ICIT 2017 - Toronto, Canada
Duration: 2017 Mar 232017 Mar 25

Other

Other2017 IEEE International Conference on Industrial Technology, ICIT 2017
CountryCanada
CityToronto
Period17/3/2317/3/25

Fingerprint

Position control
Robust control
Tuning
Function evaluation
Mathematical operators

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Ogawa, K., Ohnishi, K., & Ibrahim, Y. (2017). New state observer gain tuning methodology based on the stable margin theory. In 2017 IEEE International Conference on Industrial Technology, ICIT 2017 (pp. 677-682). [7915440] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2017.7915440

New state observer gain tuning methodology based on the stable margin theory. / Ogawa, Kenji; Ohnishi, Kouhei; Ibrahim, Yousef.

2017 IEEE International Conference on Industrial Technology, ICIT 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 677-682 7915440.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ogawa, K, Ohnishi, K & Ibrahim, Y 2017, New state observer gain tuning methodology based on the stable margin theory. in 2017 IEEE International Conference on Industrial Technology, ICIT 2017., 7915440, Institute of Electrical and Electronics Engineers Inc., pp. 677-682, 2017 IEEE International Conference on Industrial Technology, ICIT 2017, Toronto, Canada, 17/3/23. https://doi.org/10.1109/ICIT.2017.7915440
Ogawa K, Ohnishi K, Ibrahim Y. New state observer gain tuning methodology based on the stable margin theory. In 2017 IEEE International Conference on Industrial Technology, ICIT 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 677-682. 7915440 https://doi.org/10.1109/ICIT.2017.7915440
Ogawa, Kenji ; Ohnishi, Kouhei ; Ibrahim, Yousef. / New state observer gain tuning methodology based on the stable margin theory. 2017 IEEE International Conference on Industrial Technology, ICIT 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 677-682
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