Force estimation in uncertain mechanical system: h2-hinf-musyn performance analysis, frequency domain

Antonio Sala, UPV

Difficulty: **** ,       Relevance: ,      Duration: 13:53

*Enlace a Spanish version

Summary:

This video continues the case study of the design of an “estimator of an internal variable” (observer) of a system with an uncertain model, which began in the video [obsmu1EN] (modelling), continuing in the [obsmu2EN] (eneralized plant and optimal design h2,hinf,mu).

Formally, the theory pursues guarantees in the frequency domain; thus, in this video the behavior of the observer in the frequency domain is discussed, both nominally and in the event of modeling error, comparing the h2syn, hinfsyn and musyn results.

Since what will be seen in a real application are signals in the time domain, we will dedicate a video ([obsmu4EN]) that will conclude the case study with simulations in the time domain incorporating measurement noise.

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