This paper focuses on a novel gain design approach of Proportional-Integral-Observer (known as PI-Observer) for unknown input estimation such as disturbances. Whereas estimation of the fast dynamical behavior requires large observer gains, the effect of measurement noise is not negligible. To adjust the PIO gain adaptively, in this contribution the idea of funnel control is taken into consideration. The advantage of the proposed approach compared to previously published PIO gain design is the self adjustment of the observer gains according to the actual estimation situation. To improve the control performance and robustness, in the present contribution the proposed approach is combined with exact feedback linearization (EFL) method. The effectiveness of the proposed approach is verified by simulation results of a MIMO mass-spring system.

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