Design of ABC algorithm-based Unknown-Input Estimator considering stability of initial colony

Abstract

We propose a design method of an Unknown-Input Estimator (UIE) using Artificial Bee Colony (ABC) algorithm considering the stability of the initial colony. In the previous study, we used an objective function that evaluates the step response of the closed-loop system, which assumes that not every closed-loop system is unstable at the initialization stage. Unfortunately, this is not always true, so we derive a condition on the estimator gain that ensures the closed-loop stability when the plant is a first-order system. Using the condition, we are able to generate stable closed-loop systems at the initialization stage.