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

You also want an ePaper? Increase the reach of your titles

YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.

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!