<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In order to improve performance of closed loop control and achieve highly accurate reference trajectory tracking, motion controllers have to utilize the advanced control and system state estimation algorithms. Classical PID (Proportional-Integral-Derivative) controller includes calculation of derivation of a process value in order to achieve system desired performance of a system. This paper presents Kalman filter as an optimal estimation algorithm on the model of a hydraulic actuator which is equally applicable to any other application that involves calculating derivations of noisy measurements. Alternative form of Kalman filter, suitable for implementation on a PLC (Programmable Logic Controller) or any other embedded system is also presented.</p>
</abstract>

In order to improve performance of closed loop control and achieve highly accurate reference trajectory tracking, motion controllers have to utilize the advanced control and system state estimation algorithms. Classical PID (Proportional-Integral-Derivative) controller includes calculation of derivation of a process value in order to achieve system desired performance of a system. This paper presents Kalman filter as an optimal estimation algorithm on the model of a hydraulic actuator which is equally applicable to any other application that involves calculating derivations of noisy measurements. Alternative form of Kalman filter, suitable for implementation on a PLC (Programmable Logic Controller) or any other embedded system is also presented.

Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation

B&H Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In order to improve performance of closed loop control and achieve highly accurate reference trajectory tracking, motion controllers have to utilize the...

Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation

Published Online: Nov 07, 2022

Page range: 14 - 23

Received: Sep 01, 2019

Accepted: Nov 01, 2019

DOI: https://doi.org/10.2478/bhee-2019-0002

Keywords
Optimal estimator, Kalman filter, numerical differentiation, state feedback

© 2019 Asim Vodenčarević, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Control of Position, Velocity and Acceleration of Actuators Using Optimal State Estimation

Published Online: Nov 07, 2022

Page range: 14 - 23

Received: Sep 01, 2019

Accepted: Nov 01, 2019

DOI: https://doi.org/10.2478/bhee-2019-0002

KeywordsOptimal estimator, Kalman filter, numerical differentiation, state feedback

© 2019 Asim Vodenčarević, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Optimal estimator, Kalman filter, numerical differentiation, state feedback