Newton observer design in the absence of an exact discrete-time model

Author

Biyik, Emrah ; Arcak, Murat

Author_Institution

Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

fYear

2005

fDate

8-10 June 2005

Firstpage

4187

Abstract

We study the Newton observer design, developed by P. E. Moraal and J. W. Grizzle (1995), when the exact discrete-time model is not known analytically. We eliminate the dependence on this exact model by introducing continuous-time filters that produce the numerical value of the exact model. We then implement the Newton method with finite-difference and secant approximations for the Jacobian. The proposed method offers flexibility to be implemented with nonuniform, or event-driven sampling.

Keywords

Jacobian matrices; Newton method; continuous time filters; control system analysis; control system synthesis; discrete time systems; finite difference methods; observers; sampling methods; Jacobian; Newton method; Newton observer design; continuous-time filter; event-driven sampling; exact discrete-time model; finite-difference approximation; nonuniform sampling; secant approximation; Design engineering; Filters; Finite difference methods; Jacobian matrices; Newton method; Numerical models; Observability; Output feedback; Sampling methods; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470635

Filename

1470635