既存の状態観測器を利用する未知入力推定器の設計とその実験的評価

抄録

We attempt to make use of the Unknown-Input-Estimator (UIE) proposed by Tang et al. by utilizing an existing state observer. In the original UIE, a state obesrver exists in the structure. However, if a control system where the UIE is utilized is designed on the basis of the the state feedback, a state observer is inherently included, which seems to be redundant. Here, we examine whether the state observer in the UIE can be removed and plant states estimated by the state observer in the control system can be utilized for the computation in the UIE. The experimental results show that the state observer in the control system can be substituted for that in the UIE.