On the observability of linear, time-invariant systems with unknown inputs

Basile, Giuseppe; Marro, G.

doi:10.1007/bf00929356

Cited by 207 publications

(90 citation statements)

References 4 publications

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“…We remark that due to the unknown disturbance w(t), rank(C i ) = n is a necessary condition for linear observers following [41,42]. In [43], this condition is relaxed however, by identifying the various matrices, the relaxed condition results in rank(C i ) ≥ n, which can be realized only for rank(C i ) = n in our setting.…”

Section: Distributed Minimum Variance Estimatormentioning

confidence: 94%

Model based peer-to-peer estimator over wireless sensor networks with lossy channels

Fischione

Speranzon³

2015

Automatica

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In this paper, the design methods and fundamental performance analysis of an adaptive peer-to-peer estimator are established for networks exhibiting message losses. Based on a signal state model, estimates are locally computed at each node of the network by adaptively filtering neighboring nodes' estimates and measurements communicated over lossy channels. The computation is based on a distributed optimization approach that guarantees the stability of the estimator while minimizing the estimation error variance. The fundamental performance limitations of the estimator are established based on the variance of the estimation error in relation to the message loss process. Numerical simulations validate the theoretical analysis and illustrate the performance with respect to other estimators.

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Section: Distributed Minimum Variance Estimatormentioning

confidence: 94%

Model based peer-to-peer estimator over wireless sensor networks with lossy channels

Fischione

Speranzon³

2015

Automatica

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“…The problem of state observability for systems driven by unknown inputs (UI) is a fundamental problem in control theory. This problem was introduced and firstly investigated in the seventies [1,3,5,22]. A huge effort has then been devoted to design observers for both linear and nonlinear systems in presence of UI.…”

Section: Introductionmentioning

confidence: 99%

The Unicycle in Presence of a Single Disturbance: Observability Properties

Martinelli

2017

2017 Proceedings of the Conference on Control and Its Applications

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This paper investigates the observability properties of a mobile robot that moves on a planar surface by satisfying the unicycle dynamics and that is equipped with exteroceptive sensors (visual or range sensors). In accordance with the unicycle dynamics, the motion is powered by two independent controls, which are the linear and the angular speed, respectively. We assume that both these speeds are known. We consider the case when the robot motion is affected by a disturbance (or unknown input) that produces an additional (unknown and time dependent) robot speed along a fixed direction. The goal of the paper is to obtain the observability properties of the state that characterizes the robot configuration. The novelty of this observability analysis is that it takes into account the presence of an unknown and time dependent disturbance. Previous works that analyzed similar localization problems, either did not consider the presence of disturbances, or assumed disturbances constant in time. In order to deal with an unknown and time dependent disturbance, the paper adopts a new analytic tool [18]. This analytic tool is the solution of a fundamental open problem in control theory (the Unknown Input Observability problem in the general nonlinear case). We show that the application of this analytic tool is very simple and can be implemented automatically. Additionally, we simulate the aforementioned system and we show that a simple estimator based on an Extended Kalman Filter provides results that fully agree with what we could expect from the observability analysis.

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“…Otherwise, for classical centralized observation schemes, the issue of simultaneously observing the whole state and the unknown input has been investigated in (Hou and Müller [1992], Koenig [2005]). Among the most important works dealing with the state and input reconstructibility, we can cite the approach developed in (Basile and Marro [1969], Hautus [1983]) where the author gives the definitions of strong detectability and strong observability and the conditions for existence of observers that estimate a functional of the state and unknown inputs. On the other hand, many studies deal with the observation of decentralized systems even if it is not in the context of Networked Control Systems.…”

Section: Introductionmentioning

confidence: 99%

Observability analysis for networked control systems: a graph theoretic approach

Boukhobza

Hamelin

2008

IFAC Proceedings Volumes

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To cite this version:Abstract: This paper deals with the state and input observability analysis for Networked Control Systems which are composed of interconnected subsystems that exchange data through communication networks. The proposed method is based on a graph-theoretic approach and assumes only the knowledge of the system's structure. More precisely, for the so-called distributed decentralized and distributed autonomous observation schemes, we express, in simple graphic terms, necessary and sufficient conditions to check whether or not a considered subsystem is strongly observable. These conditions, which allows also to characterize all the strongly observable state and input components of each subsystem, are easy to check because they are based on comparison of integers and on finding paths in a digraph. This makes our approach suited to study large scale distributed systems.

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On the observability of linear, time-invariant systems with unknown inputs

Cited by 207 publications

References 4 publications

Model based peer-to-peer estimator over wireless sensor networks with lossy channels

Model based peer-to-peer estimator over wireless sensor networks with lossy channels

The Unicycle in Presence of a Single Disturbance: Observability Properties

Observability analysis for networked control systems: a graph theoretic approach

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