2020 | vol. 68 | nr. 1 | art. 10

Synthesis of unknown Inputs PI and PMI Observers for Takagi-Sugeno augmented Models applied on a Manipulator Arm

Abdelghani DJEDDI, Youcef SOUFI, Salah CHENIKHER, Abdelaziz AOUICHE
This paper presents two approaches for simultaneously the state and unknown input estimation of a nonlinear system described by Takagi-Sugeno (TS) augmented models based on the unknown input observer under unknown inputs and outputs. The state and the inputs are estimated simultaneously using unknown inputs proportional integral (UI-PI) observers and unknown inputs proportional multiple integral (UI-PMI) observers. The sufficient conditions for the augmented TS models and each proposed observer are formulated by the Linear Matrix Inequality (LMI). An application based on manipulator arm actuated by a direct current (DC) motor is proposed to illustrate a comparison between the two unknown input observers.
Keywords: unknown inputs observer, proportional integral observer, multiple proportional integral observer, Takagi-Sugeno models, linear matrix inequality (LMI), augmented systems
To cite this article: DJEDDI A., SOUFI Y., CHENIKHER S., AOUICHE A., “Synthesis of unknown Inputs PI and PMI Observers for Takagi Sugeno augmented Models applied on a Manipulator Arm”, in Electrotehnica, Electronica, Automatica (EEA), 2020, vol. 68, no. 1, pp. 89-97, ISSN 1582-5175.