Tracking and Observer Design for Nonlinear Systems

为了实现由非线性控制系统设计的许多进步所产生的状态反馈控制律，状态观察将是必要的。本研究将寻求为确定性、离散时间或采样数据非线性系统开发观察者。主要的重点将是扩展关于类牛顿观测者的工作，以便增加它们的适用性：改进的收敛区域和更好地理解如何在“实时”设置中有效地执行计算。一个重要的目标是在解决实际工程问题的背景下做到这一点。与福特汽车公司的工程师合作，发现了一个扭矩均衡问题。最初的目标是在仿真模型上设计和测试观测器，然后在发动机测功机测试单元中进行测试，以评估观测器-控制器组合的可实现性能。

In order to implement the state feedback control laws being produced by many of the advances in nonlinear control system design, state observes will be necessary. This research will seek to develop observers for deterministic, discrete-time or sampled-data nonlinear systems. The main thrust will be to extend the work on Newton-like observers in order to increase their applicability: an improved region of convergence and a better understanding of how to efficiently perform the computations in a "real-time" setting. An important goal will be to do this in the context of solving an actual engineering problem. In cooperation with engineers from Ford Motor Co., a torque equalization problem has been identified. The initial goal will be to design and test an observer on a simulation model, and then in an engine dynamometer test cell, in order to evaluate the achievable performance of an observer-controller combination.