Algebraic Design of a Discrete-Time Angle Tracking Observer

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dc.contributor.authorZezula, Lukášcs
dc.contributor.authorBlaha, Petrcs
dc.date.accessioned2025-11-10T12:04:58Z
dc.date.available2025-11-10T12:04:58Z
dc.date.issued2025-11-06cs
dc.description.abstractThis paper presents a discrete-time design methodology for an angle tracking observer based on algebraic controller tuning techniques. A piecewise model of the estimated angular velocity is first introduced to approximate its dynamic behavior across sampling intervals. The corresponding angular position is then obtained analytically through integration, leading to a discrete-time system that captures the relationship between the velocity and the angle. A one-step delay is incorporated into the feedback path and compensated by a one-step angle prediction to avoid algebraic loops in the closed-control structure. Finally, an algebraic controller is designed to assign the closed-loop poles to the selected positions, ensuring desirable dynamics and filtering of the observer. The designed observer is experimentally validated and benchmarked against the conventional structures.en
dc.description.abstractThis paper presents a discrete-time design methodology for an angle tracking observer based on algebraic controller tuning techniques. A piecewise model of the estimated angular velocity is first introduced to approximate its dynamic behavior across sampling intervals. The corresponding angular position is then obtained analytically through integration, leading to a discrete-time system that captures the relationship between the velocity and the angle. A one-step delay is incorporated into the feedback path and compensated by a one-step angle prediction to avoid algebraic loops in the closed-control structure. Finally, an algebraic controller is designed to assign the closed-loop poles to the selected positions, ensuring desirable dynamics and filtering of the observer. The designed observer is experimentally validated and benchmarked against the conventional structures.en
dc.formattextcs
dc.format.extent6cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationIECON 2025: 51st Annual Conference of the IEEE Industrial Electronics Society. 2025, 6 p.en
dc.identifier.doi10.1109/IECON58223.2025.11221452cs
dc.identifier.isbn979-8-3315-9681-1cs
dc.identifier.orcid0000-0002-3183-2438cs
dc.identifier.orcid0000-0001-5534-2065cs
dc.identifier.other199377cs
dc.identifier.researcheridD-6854-2012cs
dc.identifier.scopus7006825993cs
dc.identifier.urihttps://hdl.handle.net/11012/255623
dc.language.isoencs
dc.publisherIEEEcs
dc.relation.ispartofIECON 2025: 51st Annual Conference of the IEEE Industrial Electronics Societycs
dc.relation.urihttps://ieeexplore.ieee.org/document/11221452cs
dc.rights(C) IEEEcs
dc.rights.accessopenAccesscs
dc.subjectangular velocityen
dc.subjectcontrol system synthesisen
dc.subjectdigital controlen
dc.subjectdiscrete-time systemsen
dc.subjectfeedbacken
dc.subjectobserversen
dc.subjectrotating machinesen
dc.subjectstate estimationen
dc.subjectangular velocity
dc.subjectcontrol system synthesis
dc.subjectdigital control
dc.subjectdiscrete-time systems
dc.subjectfeedback
dc.subjectobservers
dc.subjectrotating machines
dc.subjectstate estimation
dc.titleAlgebraic Design of a Discrete-Time Angle Tracking Observeren
dc.title.alternativeAlgebraic Design of a Discrete-Time Angle Tracking Observeren
dc.type.driverconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionacceptedVersionen
sync.item.dbidVAV-199377en
sync.item.dbtypeVAVen
sync.item.insts2025.11.10 13:04:58en
sync.item.modts2025.11.10 12:32:33en
thesis.grantorVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií. Ústav automatizace a měřicí technikycs
thesis.grantorVysoké učení technické v Brně. Středoevropský technologický institut VUT. Kybernetika a robotikacs
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