Full- and Reduced-order Observer Design for Systems With Both the Unknown Inputs and Measurement Disturbances
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摘要: 针对同时含有未知输入和测量干扰的不确定系统研究了全维和降维观测器设计问题. 首先, 利用待定系数法给出了全维观测器的结构和存在条件. 该条件完全由原系统的系统矩阵给出, 易于检验. 对于降维观测器, 为了消除测量干扰的影响, 提出了一种新的测量输出构造方法, 使得新构造的测量输出不再包含干扰信号. 此外, 证明了全维和降维观测器存在条件的内在统一性, 即全维观测器所需要满足的观测器匹配条件和强可检测条件在研究降维观测器所要讨论的新的系统中都可以得到保持. 因而, 在全维观测器存在条件下, 也可以设计一个相应的降维观测器. 最后, 给出了一个数值例子验证所提方法的有效性.Abstract: The present paper is concerned with the full-order and reduced-order observer designs for uncertain systems with unknown inputs and measurement disturbances. Firstly, the structure and existence conditions of the full-order observer are given by the undetermined coefficient method. This condition is completely given by the system matrices of the original system and is easy to test. For the reduced-order observer, in order to eliminate the influence of measurement disturbances, a new measurement output construction method is proposed in which the newly constructed measurement output no longer contains disturbance signals. In addition, the consistency of the existence conditions between the full-order and the reduced-order observers is proved. That is, the observer matching condition and strong detectable condition that the full-order observer needs to satisfy can be maintained in the new system to be discussed in the reduced-order observer design. Therefore, under the existence condition of the full-order observer, we can also design a corresponding reduced-order observer. Finally, a numerical example is given to verify the effectiveness of the proposed method.
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图 2 系统状态及其估计(降维观测器)
Fig. 2 Actual states and their estimations (reduced-order observer)
图 5 方波和锯齿干扰信号下的状态估计
Fig. 5 State estimations under square wave and sawtooth disturbance signals
图 6 在受到噪声信号1影响下的状态估计
Fig. 6 State estimations under the influence of noise signal (Type l)
图 7 在受到噪声信号2影响下的状态估计
Fig. 7 State estimations under the influence of noise signal (Type 2)
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