Performance evaluation and simulation of cubic observers

Mohammad Mahdi Share Pasand; Ali Akbar Ahmadi

doi:10.1016/j.isatra.2021.04.032

Performance evaluation and simulation of cubic observers

ISA Trans. 2022 Mar:122:172-181. doi: 10.1016/j.isatra.2021.04.032. Epub 2021 Apr 27.

Authors

Mohammad Mahdi Share Pasand¹, Ali Akbar Ahmadi²

Affiliations

¹ Department of Electrical Engineering, Faculty of Technology and Engineering, Standard Research Institute, Alborz, PO Box 31585-163, Iran. Electronic address: sharepasand@standard.ac.ir.
² Department of Electrical and Computer Engineering, Faculty of Engineering, Kharazmi University, Tehran, PO Box 15719-14911, Iran. Electronic address: ahmadi@khu.ac.ir.

PMID: 33941377
DOI: 10.1016/j.isatra.2021.04.032

Abstract

This paper investigates the performance of cubic observers in state estimation of linear systems. In particular, the proposed observer yields a smaller estimation error norm in comparison with a linear one. It is then shown that cubic observers can be designed to perform similar to linear observers in presence of disturbances and delays. It also compares a cubic observer with a nonlinear extended observer in a simulation example.

Keywords: Bounded disturbance; Cubic observer; Lyapunov stability; State estimation.