Design of Switching Laws for Shared-Sensing and Control by Reversible Transducers

In this paper we propose the concept of shared-sensing for reversible transducers. In shared- sensing, the transducers switch between sensing and actuation modes, which is different from self-sensing where sensing and actuation are performed simultaneously. Both shared-sensing and self-sensing offer to reduce the number of transducers and provide collocation. However, our initial investigations indicate that shared-sensing has many advantages as compared to self-sensing. In this paper we develop observer based control design for systems with shared-sensing transducers. Through simulations and experimental results we demonstrate the simplicity and effectiveness with which shared-sensing and control can be implemented.