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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.07201 |
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| _version_ | 1866915485685121024 |
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| author | Adams, Timothy Everett Forbes, James Richard |
| author_facet | Adams, Timothy Everett Forbes, James Richard |
| contents | This paper proposes a linear input-output observer design methodology for a population of systems in which each observer uses knowledge of the linear time-invariant dynamics of the particular device. Observers are typically composed of a known model of the system and a correction mechanism to produce an estimate of the state. The proposed design procedure characterizes the variation within the population in the frequency domain and synthesizes a single robust correction filter. The correction filter is compatible with all system models that satisfy the variation characterization such that a given level of estimation performance is guaranteed. This is accomplished by posing a robust performance problem using the observer error dynamics and solving it using $DK$-iteration. The design procedure is experimentally demonstrated on a flexible joint robotic manipulator with varied joint stiffnesses. It is shown that the proposed method that uses a single correction filter achieves comparable estimation performance to a method that uses a correction gain tailored toward each joint stiffness configuration. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_07201 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design of Input-Output Observers for a Population of Systems with Bounded Frequency-Domain Variation using $DK$-iteration Adams, Timothy Everett Forbes, James Richard Systems and Control This paper proposes a linear input-output observer design methodology for a population of systems in which each observer uses knowledge of the linear time-invariant dynamics of the particular device. Observers are typically composed of a known model of the system and a correction mechanism to produce an estimate of the state. The proposed design procedure characterizes the variation within the population in the frequency domain and synthesizes a single robust correction filter. The correction filter is compatible with all system models that satisfy the variation characterization such that a given level of estimation performance is guaranteed. This is accomplished by posing a robust performance problem using the observer error dynamics and solving it using $DK$-iteration. The design procedure is experimentally demonstrated on a flexible joint robotic manipulator with varied joint stiffnesses. It is shown that the proposed method that uses a single correction filter achieves comparable estimation performance to a method that uses a correction gain tailored toward each joint stiffness configuration. |
| title | Design of Input-Output Observers for a Population of Systems with Bounded Frequency-Domain Variation using $DK$-iteration |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.07201 |