Nonlinear Observer Design via Approximate Normal Form: Ball and Beam System on a Vibrating Frame

Juhoon BACK; Nam H. JO; Young I. SON; Hyungbo SHIM; Jin H. SEO

Nonlinear Observer Design via Approximate Normal Form: Ball and Beam System on a Vibrating Frame

Juhoon BACK, Nam H. JO, Young I. SON, Hyungbo SHIM, Jin H. SEO

Full Text Views

0

Cite this

Summary :

There exists a class of nonlinear systems which fail to have a well-defined relative degree but have a robust relative degree. We have removed the full relative degree assumption which the previous results required, and have provided a local state observer for nonlinear systems that have robust relative degree γ n and have detectability property in some sense. The proposed observer utilizes the coordinate change which transforms the system into an approximate normal form. Using the proposed method, we constructed an observer for the ball and beam system on a vibrating frame. Simulation results reveal that substantial improvement in the performance is achieved compared with other local observers.

Publication: IEICE TRANSACTIONS on Fundamentals Vol.E87-A No.3 pp.716-724

Publication Date: 2004/03/01

Publicized

Online ISSN

DOI

Type of Manuscript: PAPER

Category: Systems and Control

Cite this

Copy

Juhoon BACK, Nam H. JO, Young I. SON, Hyungbo SHIM, Jin H. SEO, "Nonlinear Observer Design via Approximate Normal Form: Ball and Beam System on a Vibrating Frame" in IEICE TRANSACTIONS on Fundamentals, vol. E87-A, no. 3, pp. 716-724, March 2004, doi: .
Abstract: There exists a class of nonlinear systems which fail to have a well-defined relative degree but have a robust relative degree. We have removed the full relative degree assumption which the previous results required, and have provided a local state observer for nonlinear systems that have robust relative degree γ n and have detectability property in some sense. The proposed observer utilizes the coordinate change which transforms the system into an approximate normal form. Using the proposed method, we constructed an observer for the ball and beam system on a vibrating frame. Simulation results reveal that substantial improvement in the performance is achieved compared with other local observers.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e87-a_3_716/_p

Copy

@ARTICLE{e87-a_3_716,
author={Juhoon BACK, Nam H. JO, Young I. SON, Hyungbo SHIM, Jin H. SEO, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Nonlinear Observer Design via Approximate Normal Form: Ball and Beam System on a Vibrating Frame},
year={2004},
volume={E87-A},
number={3},
pages={716-724},
abstract={There exists a class of nonlinear systems which fail to have a well-defined relative degree but have a robust relative degree. We have removed the full relative degree assumption which the previous results required, and have provided a local state observer for nonlinear systems that have robust relative degree γ n and have detectability property in some sense. The proposed observer utilizes the coordinate change which transforms the system into an approximate normal form. Using the proposed method, we constructed an observer for the ball and beam system on a vibrating frame. Simulation results reveal that substantial improvement in the performance is achieved compared with other local observers.},
keywords={},
doi={},
ISSN={},
month={March},}

Copy

TY - JOUR
TI - Nonlinear Observer Design via Approximate Normal Form: Ball and Beam System on a Vibrating Frame
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 716
EP - 724
AU - Juhoon BACK
AU - Nam H. JO
AU - Young I. SON
AU - Hyungbo SHIM
AU - Jin H. SEO
PY - 2004
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E87-A
IS - 3
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - March 2004
AB - There exists a class of nonlinear systems which fail to have a well-defined relative degree but have a robust relative degree. We have removed the full relative degree assumption which the previous results required, and have provided a local state observer for nonlinear systems that have robust relative degree γ n and have detectability property in some sense. The proposed observer utilizes the coordinate change which transforms the system into an approximate normal form. Using the proposed method, we constructed an observer for the ball and beam system on a vibrating frame. Simulation results reveal that substantial improvement in the performance is achieved compared with other local observers.
ER -