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Adaptative high-gain extended Kalman filter and applications

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tel-00559107, version 1 - 24 Jan 2011<br />

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4.4 Conclusions<br />

Figure 4.29: Speed estimation using the adaptive-<strong>gain</strong> <strong>extended</strong> <strong>Kalman</strong> <strong>filter</strong><br />

(+p): begining of perturbation, (-p): end of perturabtion, (Ic): change of the input.<br />

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,-./<br />

Figure 4.30: Evolution of theta.<br />

91

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