Force estimation in an uncertain mechanical system: h2, hinf, musyn Matlab example

Antonio Sala, UPV

Difficulty: ***** ,       Relevance: ,      Duration: 19:55

*Enlace a Spanish version

Summary:

This video addresses the design of an optimal estimator (in a certain sense) of the force acting on a mass-spring-damper system with uncertain damping coefficient.

Although it’s quickly reviewed here, a more extensive explanation of the uncertain LFT modeling part is covered in the video [obsmu1EN], which you might want to watch, prior to this one, depending on your previous familiarity with these topics.

In this video, generalized plants and weighted generalized plants are posed to address the problem.

We review the h2syn and hinfsyn designs on the nominal plant, and the musyn design on the plant with uncertainty.

Performance is preliminarily discussed in terms of margins robstab (not relevant in “observer” problems), wcgain and robgain.

The result of musyn is a high-order estimator. Order reduction and simulation in time and frequency will be addressed, for brevity, in video [obsmu3EN], continuation of this one.

*Link to my [ whole collection] of videos in English. Link to larger [ Colección completa] in Spanish.