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1answer
13 views

Iterative Kalman filters and system parameters estimation

i am working recently on a project in which i want to implement a Kalman filter as being an observer, and i couple this observer with a state feedback controller that produces control actions ...
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1answer
32 views

How to periodically estimate states of a LTI if the output is measured irregularly?

How can I periodically estimate the states of a discrete linear time-invariant system in the form $$\dot{\vec{x}}=\textbf{A}\vec{x}+\textbf{B}\vec{u}$$ $$\vec{y}=\textbf{C}\vec{x}+\textbf{D}\vec{u} ...
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0answers
30 views

Wavelet transform in control systems

In control systems, the Laplace transform is often used to analyze the stability and the performance of LTI system. For instance, the LTI system is stable if and only if the transfer function, which ...
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1answer
37 views

Describing Function for non-symmetric Saturation Model

Let's talk about a standard saturation model: with bounds $bound_{lower}$ and $bound_{upper}$. So in this example the output $y$ will be: \begin{equation} y(u) = \begin{cases} ...
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1answer
50 views

Iterative blind sinus signal suppression

There are two real signals in the form of $A_i sin(wt+p_i), i=1,2$. Suppose frequency $w$ of both the signals is the same and amplitude $A_i$ and phase $p_i$ are different. The first signal has ...
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0answers
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Does the integrator in a PID controller removes the disturbance?

I am reading "Small Unmanned Aircraft: Theory and Practice" (page 7). We have the following Transfer Function (TF): $\phi(s)=\frac{a_{\phi 2}}{s(s+a_{\phi 1})}(\delta_a(s)+\frac{1}{a_{\phi 2}}d_{\phi ...
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2answers
69 views

Differences between two closed-loop systems

What could I say about stability of those systems by looking at the scheme? System 1 System 2 $y_r(s)$ is input, $a(s)$, $b(s)$, $p(s)$, $q(s)$ and $r(s)$ are some polynomials and $y$ is output. ...
0
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1answer
72 views

Step response overshoot [on hold]

given step response: $\frac {0.04 \cdot K} {(0.04 \cdot K+1.63 \cdot 10^{-3})}$ how do I find $K$ so the step response never have overshoot?
1
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1answer
38 views

Existence of transfer function

This is my system. Is there a way to find a transfer function? I can’t help the YR(s) going inside B(s) without being sampled, and I think this is the problem. Any help?
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0answers
13 views

Discrete control optimization

I try to optimise following control scheme: $$C(z)=\frac{(z+2)}{z^2}$$ -> translation to temporal equations: $$u(k)=e(k+1)+2e(k-2)$$ if i want to optimise this for offline/online calculation, is it ...
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2answers
260 views

A good textbook for designing signal filters

Since a couple of months ago I started being actively involved in the area of control of dynamical systems. In most cases, designing a controller for a given dynamic system will require the ...
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0answers
18 views

Affine Non Autonomous State Space System

Normally We all know the state space model of the the form $$\dot{x} = Fx(t)+Gu(t)$$ $$y = Hx(t)+Ju(t)$$ However I came across a state space model which has the following form $$\dot{x} = ...
3
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1answer
319 views

AutoExposure with nonlinear camera: Non linear proportional PID?

Now I', wondering how to best implement a control algorithm for it. I tried using a PID controler but started with a simple P-control first. The problem is, that when using the equation ...
1
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2answers
252 views

Kalman filter with accelerometer with DC offset

Goal: For a particle moving uniaxially, to estimate position ($d$) and velocity ($v$) from noisy acceleration ($a$) and very noisy position (GPS) measurements using a Kalman filter. Catch: The ...
0
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0answers
37 views

construct 2-state observer

I have position $\theta(s) = \frac{s^2+1}{s^4+2s^3+3s^2+4s+5}$ and velocity $\dot\theta(s) = \frac{s(s^2+1)}{s^4+2s^3+3s^2+4s+5}$. How do I construct 2-state-observer with sampling time $T_s$? ...
0
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1answer
365 views

Inverse system in Simulink

I have a inverse system: $G(s)= s^2 + 2s + 3$. How do I apply it in a Simulink model? (the transfer function is only accepted if and only if the order of the numerator < order of denominator).
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0answers
118 views

Digital control: Exercise solution

Can you help me (show me how) to solve the following exercise? For the process with transfer function $G(s)=e^{-2s}/(s+1)$ design a digital controller with sampling time $T_{s} = 1$ that meets the ...
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1answer
308 views

State Space Observer Control

I am attempting to implement observer based state feedback in C and can't figure it out. Here is pseudocode of the algorithm: ...
2
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1answer
157 views

response of algorithm in non-equidistant time

We are investigating ways to test a control algorithm. The algorithm has a non-equidistant track of input data (i.e. not every sample is valid, and we know it), and should output a series of ...
3
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0answers
245 views

How do I check controllability and observability using Gramian matrixes?

I have a pending exam and this is one of the must-know questions. It will be about checking controllability/observability of a simple MIMO linear system, using Controlability Gramian/Observability ...
2
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0answers
79 views

Optimal inference for nonlinear state space models

When considering a linear-Gaussian state space model, it is often referred that, optimal inference is tractable which is very rare in state space models. When considering a nonlinear state space ...
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0answers
101 views

Estimating the input to a system from a system state using EKF

[ Cross-posted from: http://math.stackexchange.com/questions/164169/estimating-the-input-to-a-system-from-a-system-state ] I have a system for which I have obtained a non-linear time-varying ...
7
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2answers
668 views

How to do prediction using frequency domain data?

Both linear regression and Kalman filtering can be used to estimate and then predict from a time domain sequence of data (given some assumptions about the model behind the data). What methods, if ...
2
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2answers
90 views

survey/book on adaptive/self-tuning of PI controllers?

Can someone point me towards a good book or survey article on adaptive/self-tuning of PI controllers? All I can find online are articles which are either vague or heavy on theory.
8
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1answer
401 views

How to deal with a negative pole (unstable) in the pre-filter of a control system?

So while answering how to design a PI controller for a first order time delayed system (Question Here ) Here is the closed loop equation to a control system: $$ G_C(s) = ...
7
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1answer
409 views

What is the “waterbed effect” in control system design?

I recently stumbled across some notes on the "Waterbed effect" in some notes by A. Megretski for an MIT course on "multivariate control systems". Here's an excerpt: A common effect, usually ...