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허건수,남준철 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-
It was shown that the robustness of deterministic observers with respect to modeling errors, measurement bias and round-off errors can be represented by a single performance index, the condition number of the observer eigenvector matrix. In this paper, a robust observer for multi-output systems is designed using the left eigenstructure assignment, where the observer gain can not be determined uniquely with respect to the desired observer poles. Utilizing the eigenstructure assignment for the robustness of the observer, the desired eigenvector matrix is selected to achieve the observer eigenvector matrix with the small condition number. The performance of the designed robust observer is evaluated in a spindle-drive simulation example where the load speed to be estimated based on the measured signals.