Abstract
Aiming to obtain current state variables of a mechanical system with a transmission time delay, we estimated state variables by using a Kalman filter. In order to increase the stability of the estimation system, we have proposed a novel Kalman filter with dual mathematical models. Experimental results for the state variable estimation show that unlike the conventional Kalman filter system, the estimation system with dual models is not apt to diverge even if there is longer transmission time delay. Moreover the estimation error in this system is smaller than one in the conventional single model by a factor of about three. That is to say, the Kalman filter with the dual models is precise and robust in the estimation process against the transmission time delay. Moreover this result is also confirmed by the computer simulation by obtaining the same results to the experiments.
