Date of Award

2016

Degree Type

Thesis

Degree Name

Master of Science in Mechanical Engineering and Applied Mechanics

Department

Mechanical, Industrial and Systems Engineering

First Advisor

Richard Vaccaro

Abstract

Proportional integral observer (PIO) has the ability to estimate state variables and disturbances in linear control systems. The observer gain can be obtained by traditional pole-placement methods, however, these methods may not provide good robustness bound for observer based regulators and tracking systems. In this thesis, an extended observer model will be derived, and shown that PIO can be regarded as this extended observer. A parameterized method of calculating feedback gain and proportional observer gain will be modified and applied on gain calculation of PIO using an extended model for observer, with good robustness for PIO based regulators and tracking systems. Examples on PIO and PIO based control systems in both continuous time and discrete time will provided to show the result of this design method.

MATLAB code.zip (8 kB)
MATLAB Code

MATLAB function.zip (11 kB)
MATLAB Function

Simulink.zip (96 kB)
Simulink

sroots.mat (1 kB)
SRoots.mat

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