Alpha beta filter

About: Alpha beta filter is a research topic. Over the lifetime, 5653 publications have been published within this topic receiving 128415 citations.

An observer of systems with delays in state variables

Abstract: The paper is concerned with the design of an observer of systems with delays in state variables and control. It is shown, on the basis of the finite spectrum assignment theory, that if the system is spectrally observable, there exists an observer which can estimate the state variables of the system as fast as desired. A systematic design procedure of the observer is presented. The advantage of the proposed method is that the observer is constructed without preliminary knowledge of the open-loop spectrum in contrast with the design method based on the spectral decomposition.

On nonlinear observers with approximately linear error dynamics

Abstract: We discuss the design of observers for autonomous nonlinear systems with one output. New necessary and sufficient conditions for existence of a solution to the observer error linearization problem are given. In the case when an exact linearization of the observer error dynamics is impossible, a simple least-squares scheme is proposed that yields an observer whose error dynamics is approximately linear. An algorithm for observer construction is provided. An example of observer design for a mass-spring system with nonlinear spring and dynamic friction forces is given.

Convergence Analysis of a Family of Robust Kalman Filters Based on the Contraction Principle

Abstract: In this paper, we analyze the convergence of a family of robust Kalman filters. For each filter of this family, the model uncertainty is tuned according to the so-called tolerance parameter. Assuming that the corresponding state-space model is reachable and observable, we show that the $N$-fold composition of the corresponding Riccati-like mapping is strictly contractive provided that the tolerance is sufficiently small and, accordingly, the filter converges.