| Popis: |
In this paper, a new approach for the Generalized Proportional Integral Observer when only noisy measurements are available is proposed, based in a integral extention of the system and observer model. A comparison of the GPI observer to the new approach is given via an academic simulation example. With this approach, is possible to estimate completely unknown, but bounded, perturbations and the states of the system, such that a perturbation-cancel plus PD compensation control is proposed for trajectory tracking tasks. |
