A Novel Delta Operator Kalman Filter Design and Convergence Analysis

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Yang, Hongjiu, Xia, Yuanqing, Shi, Peng and Fu, Mengyin (2011) A Novel Delta Operator Kalman Filter Design and Convergence Analysis. IEEE Transactions on Circuits and Systems Part 1: Regular Papers, 58 (10). pp. 2458-2468. ISSN 1549-8328

Abstract

This paper focuses on the development of a delta operator Kalman filter and its convergence analysis. The delta operator Kalman filter is designed to estimate the state vectors of a delta operator system. Note that the designed delta operator Kalman filter can express both continuous-time and discrete-time cases. Then, the convergence analysis of the delta operator Kalman filter is also investigated by using Lyapunov approach in delta domain. Furthermore, this paper gives fundamental results for the analysis and application of the delta operator Kalman filter as a state observer in an inverted pendulum model. Some experimental results of an inverted pendulum on a laboratory-scale setup are presented to illustrate the effectiveness of the designed Kalman filter and its implementation.

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Item type Article
URI https://vuir.vu.edu.au/id/eprint/10350
DOI https://doi.org/10.1109/TCSI.2011.2131330
Official URL http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arn...
Subjects Historical > FOR Classification > 0802 Computation Theory and Mathematics
Historical > SEO Classification > 970108 Expanding Knowledge in the Information and Computing Sciences
Historical > Faculty/School/Research Centre/Department > Institute for Logistics and Supply Chain Management (ILSCM)
Historical > Faculty/School/Research Centre/Department > School of Engineering and Science
Keywords ResPubID24848, convergence analysis, delta operator systems, inverted pendulum model, Kalman filter, Lyapunov approach
Citations in Scopus 52 - View on Scopus
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