A parameterization of observer-based controllers: bumpless transfer by covariance interpolation

Authors:
Jakob Stoustrup;Mohammad Komareji
Affiliations:
Aalborg University, Department of Electronic Systems, Automation & Control;The Department of Electronic Systems, Automation & Control, Aalborg University, Aalborg, Denmark
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

This paper presents an algorithm to interpolate between two observer-based controllers for a linear multivariable system such that the closed loop system remains stable throughout the interpolation. The method interpolates between the inverse Lyapunov functions for the two original state feedbacks and between the Lyapunov functions for the two original observer gains to determine an intermediate observer-based controller.