Gast spreker Prof. Lorenzo Marconi, University of Bologna, Italy
28 mei 2018 14:00 t/m 15:00 - Locatie: Instructiezaal K, 3me - Door: DCSC
"Low-Power High-Gain Observers"
High-gain observers are customarily used in many control contexts, such as state observation, robust output stabilisation, output regulation, fault detection and identification, and many others. They play a role in the so-called nonlinear separation principle due to the main property that the speed of convergence of the observer can be arbitrarily tuned by acting on a single (high-gain) parameter. Despite the evident benefits of this class of observers, their use in real applications is questionable due to some drawbacks inherently related to the high-gain nature of the observer. Numerical issues in implementation for high-order systems, peaking phenomena, high sensitivity to measurement noise are the main criticisms that, legitimately, are typically moved forward by the detractors of this kind of observers.
In this talk we present a new class of nonlinear high-gain observers, denoted as "low-power high-gain observers", that has been recently introduced. The new observer preserves the same features of the classical one but substantially overtaking the aforementioned drawbacks. The low-power high-gain observers, in fact, are characterised by having coefficients that do not grow with the system dimension, by avoiding the peaking phenomenon and by improving the sensitivity to high-frequency measurement noise. The proposed observers can be used in all the control frameworks where standard observers are used with a clear improvement in practical implementations.
The talk will overview the structure of the classical and new observers by presenting the main asymptotic properties and showing the performances by means of simulation results.
Short Bio: Lorenzo Marconi received the M.S. degree in electrical engineering and the Ph.D. degree from the University of Bologna, Bologna, Italy, in 1995 and 1998, respectively. Since 1995, he has been with the Department of Electronics, Computer Science, and Systems at the University of Bologna where is now full professor. He has held visiting positions at various academic/research international institutions. He is coauthor of more than 200 technical publications on the subject of linear and nonlinear feedback design published on international journals, books and conference proceedings. His current research interests include nonlinear control, output regulation, control of autonomous vehicles, fault detection and isolation, fault tolerant control.
Dr. Marconi received the Outstanding Application Paper Award in 2005 from IFAC for a coauthored paper published on Automatica, and the 2014 IEEE Control Systems Magazine Outstanding Paper Award for the best paper published on the magazine in the period 2012–2013. He is IEEE fellow, a member of the IEEE Control System Society, of the Control System Society Conference Editorial Board, and the Chair of the IFAC Technical Committee on Nonlinear Control Systems.
Dr.ir. S. Baldi