28.01.2013 Views

Adaptative high-gain extended Kalman filter and applications

Adaptative high-gain extended Kalman filter and applications

Adaptative high-gain extended Kalman filter and applications

SHOW MORE
SHOW LESS

Create successful ePaper yourself

Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.

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

detailed here.<br />

1.4 Dissertation Outline <strong>and</strong> Comments to the Reader<br />

− Chapter 4 is dedicated to the implementation of the observer. An example is used<br />

to progress through the different steps. An experiment on a real process illustrates the<br />

behavior of the observer in a real-time environment.<br />

− Finally Chapter 5 includes extensions to the original result.<br />

Complementary material is included in the appendices.<br />

Readers Interested in a practical approach of the adaptive <strong>high</strong>-<strong>gain</strong> <strong>extended</strong> <strong>Kalman</strong> <strong>filter</strong>...<br />

...should read Chapter 4.<br />

...should take a look to Section 3.1 (definition of the MISO normal form), <strong>and</strong> to Definition<br />

30 (of the observer). If they are not familiar with <strong>high</strong>-<strong>gain</strong> observers, Definition 15 (<strong>high</strong>-<strong>gain</strong><br />

EKF) may be of help.<br />

...will find the main theoretical results in Lemma 33 (lemma on innovation) <strong>and</strong> Theorem<br />

36 (convergence of the observer).<br />

Readers interested only in the definition of the observer <strong>and</strong> its proof of convergence...<br />

...can read directly Chapter 3.<br />

...shall read Chapter 2 in order to underst<strong>and</strong> the motivations for the use of the observability<br />

form.<br />

Readers that want to explore a bit further than the initial continuous MISO normal form...<br />

...should go to Chapter 5. Some of the informations of this chapter are also useful for<br />

st<strong>and</strong>ard <strong>high</strong>-<strong>gain</strong> EKFs: dealing with multiple outputs systems, underst<strong>and</strong>ing the proof<br />

of the properties of the continuous discrete Riccati equation,...<br />

9

Hooray! Your file is uploaded and ready to be published.

Saved successfully!

Ooh no, something went wrong!