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입력관측기의 정량적 성능지표 (Ⅱ) - 정상상태 해석 -
정종철(Jongchul Jung),이범석(Boemsuk Lee),허건수(Kunsoo Huh) 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.10
The closed-loop state and input observer is a pole-placement type observer and estimates unknown state and input variables simultaneously. Pole-placement type observers may have poor performances with respect to modeling error and sensing bias error. The effects of these ill-conditioning factors must be minimized for the robust performance in designing observers. In this paper, the steady-state performance of the closed-loop state and input observer is investigated quantitatively and is represented as the estimation error bounds. The performance indices are selected from these error bounds and are related to the robustness with respect to modeling errors and sensing bias. By considering both transient and steady-state performance, the main performance index is determined as the condition number of the eigenvector matrix based on I.2-norm.<br/>