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Implementation and Evaluation of Linear Observers
Soohyeon Kwon(권수현),Daehyun Kum(금대현),Seonghun Lee(이성훈) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
This paper presents the representative linear observers to estimate states (or outputs) of the system using the mathematical model of real system. The studied observers include Luenberger observer (LO), Unknown input observer (UIO), Kalman filter (KF). The basic principles of each algorithm are described and then they are applied to Electro-Mechanical Brake (EMB) system model to evaluate their performances in Matlab/Simulink. The first simulation was carried out in the processing noise (in terms of white noise) and the Probability Density Function (PDF) of generated residuals were compared. The second simulation was done with additive sensor fault signals and sensing noise, and the amplitude of residuals has been considered. The simulation results are shown the effectiveness of these observers on the motor speed of EMB system.