An Energy-Based State Observer for Dynamical Subsystems with Inaccessible State Variables

I.S.M. Khalil, Asif Sabanovic, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

    3 Citations (Scopus)
    213 Downloads (Pure)


    This work presents an energy-based state estimation formalism for a class of dynamical systems with inaccessible/unknown outputs, and systems at which sensor utilization is impractical, or when measurements can not be taken. The power-conserving physical interconnections among most of the dynamical subsystems allow for power exchange through their power ports. Power exchange is conceptually considered as information exchange among the dynamical subsystems and further utilized to develop a natural feedback-like information from a class of dynamical systems with inaccessible/unknown outputs. This information is used in the design of an energybased state observer. Convergence stability of the estimation error for the proposed state observer is proved for systems with linear dynamics. Furthermore, robustness of the convergence stability is analyzed over a range of parameter deviation and model uncertainties. Experiments are conducted on a dynamical system with a single input and multiple inaccessible outputs (Fig. 1) to demonstrate the validity of the proposed energybased state estimation formalism.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationPortugal
    Number of pages7
    ISBN (Print)978-1-4673-1737-5
    Publication statusPublished - 7 Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012

    Publication series

    NameIEEE Xplore
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0858


    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    Internet address


    • IR-82443
    • METIS-289965
    • CE-Advanced Robotics
    • EWI-22854
    • State estimation
    • Energy

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