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8th Vienna
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on Mathematical Modelling
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February
Austria 18 - 20, 2015. Vienna University of Technology,
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February 18 - 20, 2015. Vienna University of Technology, Vienna,
18 - 20, 2015. Vienna University of Technology, Vienna,
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IFAC-PapersOnLine 48-1 (2015) 532–537
Proportional-Integral-Observer: A brief
Proportional-Integral-Observer:
Proportional-Integral-Observer: A
A brief
brief
survey with special attention to the actual
survey
survey with special attention to the actual
methods using ACC Benchmarkactual
with special attention to the
methods
methods using
using ACC
ACC Benchmark
Benchmark
F. Bakhshande ∗∗ D. Söffker ∗∗
F.
F. Bakhshande ∗∗ D. Söffker ∗∗
F. Bakhshande
Bakhshande D. D. Söffker
Söffker
∗
Chair of Dynamics and Control
University
∗
Chair of Dynamics
∗ of Duisburg-Essen, Duisburg,
Chair of of Dynamics
Dynamics and and
and Control
ControlGermany
University
∗
Chair
of Duisburg-Essen, Control
Duisburg, Germany
(e-mail:
University
University{fateme.bakhshande,soeffker}@uni-due.de).
of
of Duisburg-Essen, Duisburg, Germany
Duisburg-Essen, Duisburg, Germany
(e-mail:
(e-mail: {fateme.bakhshande,soeffker}@uni-due.de).
(e-mail: {fateme.bakhshande,soeffker}@uni-due.de).
{fateme.bakhshande,soeffker}@uni-due.de).
Abstract: This paper gives a brief survey of linear and nonlinear Proportional-Integral-
Abstract:
Observer This paper gives a brief survey of linear and nonlinear Proportional-Integral-
Abstract:design.
Abstract:
Observer
This
This paper
design.
This observer
paper
This
gives
gives a
observer
has the
a brief
brief
has
ability
survey
survey
the
of
ability
to estimate
of linear
linear
to
and
estimate
simultaneously
and nonlinear
nonlinear
simultaneously
the states and
Proportional-Integral-
Proportional-Integral-
the
unknown
Observer design.
Observer inputs such
design. This as disturbances
This observer
observer has or
has the model
the ability uncertainties
ability to to estimate acting
estimate simultaneouslyon the
simultaneously system.theInstates
the states
states
and
literature
and
and
unknown
different
unknown inputs
system
inputs such
types
such as
as disturbances
have been
disturbances or
or model
considered
model uncertainties
for designing
uncertainties acting
PI-Observer
acting on
on the
the system.
which
system. are In
In literature
introduced
literature
unknown
different inputs such as disturbances or model uncertainties acting on the system. In literature
briefly
different
different insystem
system
system
types
this survey.
types have
types have
have
been
Furthermore
been considered
been considered
considered
for
design methods
for designing
for designing
designing
PI-Observer
of Advanced
PI-Observer
PI-Observer
which
PI-observer
which
which are
are
andintroduced
are Modified
introduced
introduced
briefly
Advanced
briefly in
in this
this survey.
PI-Observer
survey. Furthermore
are presented.
Furthermore design
Both
design methods
approaches
methods of
of Advanced
are
Advanced based PI-observer
on the
PI-observer and
PI-Observer
and Modified
but
briefly
Advanced in this survey. Furthermore
PI-Observer are presented. design
Both methods
approaches of Advanced
are based PI-observer
on the and Modified
PI-Observer Modified
using adaptive
Advanced PI-Observer
Advanced gain scheduling
PI-Observer are approach.
are presented.
presented. Both Simulation
Both approaches results
approaches are using
are based American
based on on the PI-Observer but
Control
the PI-Observer Conference but
but
using
(ACC)
using adaptive
benchmark
adaptive gain
gain scheduling
are given toapproach.
scheduling approach. Simulation
evaluate Modified
Simulation results
Advanced
results using American
PI-Observer
using American inControl
comparison
Control Conference
to PI-
Conference
using
(ACC) adaptive
benchmark gain scheduling
are given toapproach. Simulation
evaluate Modified results using
Advanced PI-Observer American Control
in comparison Conference
to PI-
Observer
(ACC)
(ACC) and Advanced
benchmark
benchmark are PI-Observer.
are given
given to
to evaluate
evaluate Modified
Modified Advanced
Advanced PI-Observer
PI-Observer in in comparison
comparison to to PI-
PI-
Observer
Observer and
and Advanced
Advanced PI-Observer.
PI-Observer.
Observer
© 2015, IFACand(International
Advanced PI-Observer.
Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords: Proportional-Integral-Observer, Disturbance observer, High gain observer, State
Keywords:
and unknown
Keywords: Proportional-Integral-Observer,
input estimation
Proportional-Integral-Observer, Disturbance
Disturbance observer,
observer, High High gaingain observer,
observer, StateState
Keywords:
and unknown Proportional-Integral-Observer,
input estimation Disturbance observer, High gain observer, State
and unknown
and unknown input input estimation
estimation
1. INTRODUCTION additional states used to model unknown inputs like dis-
1. INTRODUCTION
1. INTRODUCTION additional
turbances etc.
additional states
This
states used
typeto
used tocan model
also be
model unknown inputs
used forinputs
unknown robustlikelike dis-
estima-
dis-
1. INTRODUCTION additional
turbances states
etc. This used
type tocan model
also beunknown
be used forforinputs
robust like dis-
estima-
Observers play a crucial role in control because some turbances tion of
turbances states
etc.
etc. in
This
Thiscase of
type
type modeling
can
can also
also uncertainties
be used
used for robust
robustor additive
estima-
estima-
Observers
control methods
Observers play aarequire
play crucial
crucial role
therole in control
accurate
in control because
estimation
because some tion
of system
some tion of states
nonlinear
of states in case
effects.
in case
Theofofsecond
modeling
modeling uncertainties
typeuncertainties
of observer is orbased
or additive
additiveon
Observers
control play arequire
methods crucial the role in control
accurate because
estimation of some tion
system of states
nonlinear in case
effects. The ofsecond
modeling type uncertainties
of observer orbased
is additiveon
states
control
control to realize
methods
methods the close
require
require loop
the
the control
accurate
accurate tasks. Measuring
estimation of systemall Luenberger
nonlinear
nonlinear effects. observer
effects. The (Luenberger
second
The(Luenberger type
second type(1964)) (1964))
of approach
observer
of observer is and
based
is based is
on
on
states to
states to realize
is not the
always
realize the close
possible
close loop
loop controlestimation
because
control tasks.
some states
tasks.
of system
Measuring
Measuring are notall Luenberger
all Luenberger
called Disturbance observer
observer observer
(Luenberger (DO)(1964))or later
(1964)) approach and
and is
Proportional-
approach is
states
states to realize
is not
notoralwaysthe
always close loop
possiblemay control
because tasks.
some Measuring
states are notall Luenberger
not called observer
Disturbance (Luenberger
observer (DO) or later approach
later Proportional- and is
measurable
states
states is
is notor using sensors
always possible
possiblemay be too
because
because costly.
some
some Meanwhile
states
states are not called
are IntegralDisturbance
called (PI)-Observer.
Disturbance Even (DO)
observer
observer if an accurate
(DO) or model of the
or later Proportional-
Proportional-
measurable
high quality
measurable or using
performance
using sensors
sensors could
may be
be
be too costly.
achieved
too costly. Meanwhile
through
Meanwhile the Integral
system
Integral (PI)-Observer.
is available,
(PI)-Observer. in Even
reality
Even if
if an
the
an accurate
system
accurate ismodel
affected
model of the
of the
by
measurable
high quality orperformance
using sensorscould may be be too costly.through
achieved Meanwhile the Integral
system (PI)-Observer.
is available, in Even if the
reality an accurate
system ismodel
affected of the
by
estimation
high
high quality of unknown
performance
qualityof performance inputscould
couldaffecting
be the
achieved
be achieved system
through
throughsuch as
the unknown
system
system is
is inputs,
available,
available,which in
in may
reality
realitybe disturbances
the
the system
system or
is
is unmodeled
affected
affected by
by
estimation
disturbances
estimation of unknown
or inputs
model uncertainties.
unknown inputs affecting the system
Beside system suchthe
the estimation unknown
as unknown inputs,
dynamics.inputs, Therefore which
which may be
several
may be disturbances
methods have been
disturbances or unmodeled
or unmodeled
proposed
estimation
disturbances of or
unknown
model inputs affecting
affecting
uncertainties.
the
the system
Beside the
such
such as
estimation as unknown
dynamics. inputs,
Therefore which may be
several disturbances
methods have or unmodeled
been proposed
of states
disturbances
disturbances and orunknown
model inputs,
uncertainties. observers
Beside are
the also able
estimation to for disturbance
dynamics.
dynamics. estimation
Therefore
Therefore several
several and attenuation
methods
methods have
have in in combination
been
been proposed
proposed
of
increase
of states andor
states the
and
model uncertainties.
unknown
control
unknown inputs, observers
performance.
inputs,
Besideare
observers
In thisare
thealso
estimation
able to
contribution
also able toa for for disturbance
withdisturbance estimation
controllersestimation
(Davison and and attenuation
(1972), Johnson in
attenuation combination
(1976)).
combination They
of states
increase and
the and unknown
control inputs,
performance. observers
In this
thisare also able
contribution toa withfor
with disturbance
controllers estimation
(Davison and attenuation
(1972), Johnson
Johnson in combination
(1976)). They
brief survey
increase
increase the control
the and
controlreview of PI-Observer
performance.
performance. In
In thisdesign and
contribution
contributionits for-a proposed
with a disturbance
controllers
controllers (Davison
(Davison model-based
(1972),
(1972),
a proposed a disturbance model-based approach which can approach
Johnson which
(1976)).
(1976)). can
They
They
brief
brief survey
mulation
surveyfor review
different
and review of
types
of PI-Observer
of system design
(linear and and its for-
nonlinear approximately
proposed a model
disturbance disturbances
model-based acting on
approach the system.
which can
brief survey
mulation for and review
different of PI-Observer
types PI-Observer
of system
system
design
design
(linear and
and
and its
its for-
for- proposed
nonlinear approximately a disturbance
model model-basedacting
disturbances approach which
on disturbance
the can
system.
systems) are
mulation
mulation for
for presented.
different
different Particular
types
types of
of system attention
(linear
(linear to the
and
and nonlinear
nonlinear In this method model
advan- approximately
approximately at leastdisturbances
model information acting
disturbances about the
acting on
on the
the system.
system.
systems) are presented.
presented.
tages of scheduling
systems) are Particular
high Particular attention to
gains of PI-Observer
attention to the
is the advan- In
considered
advan- In this is
model
this method
required
method at such
at least as
least information about the
its input matrix
information about the disturbance
to the system.
disturbance
systems)
tages of are presented.
scheduling high Particular
gains of attention to
PI-Observer is the advan- In
considered this is
model method
required at such
least as information
its input about the
matrix to disturbance
the system.
in this
tages
tages of
of review.
scheduling
scheduling Advanced
high
high PI-Observer
gains
gains of
of PI-Observer
PI-Observer(APIO) is
is (Liu
considered
consideredand Estimation
model
model is
is of
required
required system
such
such states
as
as its
its and
input
input unknown
matrix
matrix to
toinputs
the
the based
system.
system.
in this
Söffker
in this review.
(2012))
review. Advanced
is introduced PI-Observer
to realize an(APIO)
adaptive (Liu
gain and
for Estimation
on the
Estimation system of
of system
input-output
system states
states and
can
and beunknown
solved
unknown inputs
for linear
inputs based
sys-
based
in
Söffker review. isAdvanced
this (2012)) Advanced
introduced
PI-Observer
PI-Observer
to realize an
(APIO) (Liu
an(APIO)
adaptive (Liu and Estimation of system states and unknown inputs based
gainand
for on on the system input-output can can be be solved
solved The for linear
linear sys-
PI-Observer
Söffker
Söffker (2012))
(2012)) to improve
is introduced the performance
to realize and
adaptiverobustness.
gain for
gain for on tem using
the
the system
systemProportional-Integral-Observer.
input-output
input-output can be solved The for name
for linear ’PI-
sys-
sys-
PI-Observer
Modified Advanced
PI-Observer to isimprove
to
introduced
improve the to
PI-Observer
the
realize an adaptive
performance
(MAPIO)and
performance and robustness.
is proposed
robustness. as tem tem using
Observer’
using Proportional-Integral-Observer.
was proposed firstly by Wojciechowski
Proportional-Integral-Observer. The name
name ’PI-
(1978)
’PI-
PI-Observer
Modified to
Advanced improve the
PI-Observer performance
(MAPIO) and robustness.
is proposed
proposed tem using
Observer’
as Observer’ Proportional-Integral-Observer.
was proposed
proposed firstlysystems
by Wojciechowski The
Wojciechowski name ’PI-
(1978)
an modified
Modified
Modified approach
Advanced
Advanced of API-Observer.
PI-Observer
PI-Observer (MAPIO)
(MAPIO) Finally
is simulation
is proposed as for SISO-linear
as Observer’ was time invariant
was proposed firstly by
firstlysystems by augmenting
by Wojciechowski (1978)an
(1978)
an modified
results
an using
modified approach
a benchmark
approach of API-Observer.
of API-Observer.
example (WieFinally
and
Finally simulation
Bernstein
simulation for
for SISO-linear
integral term
SISO-linear time
into
time theinvariant
structure
invariant of
systems by augmenting
Luenberger
by augmentingObserver. an
an
an modified
results using approach of API-Observer. Finally
and simulation for SISO-linear
integral term time
into theinvariant
structure systems by augmenting
of Luenberger
Luenberger Observer. an
(1992)) using
results
results using aa
a
benchmark
are illustrated
benchmark
benchmark
example (Wie
to evaluate
example
example
(Wie
(Wie and
and
Bernstein
the performance
Bernstein
Bernstein Later it term
of integral
integral was into
term improved
into the
the by Kaczorek
structure
structure of
of (1979) and
Luenberger Shafai
Observer.
Observer.
(1992)) are illustrated
MAPI-Observer.
(1992)) are illustrated to evaluate evaluate the performance
performance of Later Later it was
and Carroll
it was(1985)
improved
improved by Kaczorek
Kaczorek systems
for MIMO-linear
by (1979) and
(1979) and Shafai
to improve
Shafai
(1992)) are illustrated to
MAPI-Observer. to evaluate the the performance of of Laterand it was(1985)
Carroll improved for by Kaczorek systems
MIMO-linear (1979) and to Shafai
improve
MAPI-Observer.
MAPI-Observer. the
and
and estimation
Carroll
Carroll (1985) robustness
(1985) for against
for MIMO-linear
MIMO-linear step disturbance
systems
systems to
to improve
improveand
2. BACKGROUND the
the estimation
variations
estimation in the robustness
system
robustness against
parameters.
against step disturbance
Besides
step some
disturbance and
linear
and
the estimation
variations in robustness against step disturbance and
2. BACKGROUND
2. BACKGROUND
2. BACKGROUND filters/observers
variations
variations in the
in the
system
the such
system
system
parameters.
as Extended
parameters.
parameters.
Besides
Kalman
BesidesFilter
Besides
some
some(EKF)
some
linear
linear
linear
Two classes of observer design methods have been pro- filters/observers filters/observers
or its modified version such as
such as Unscented
Extended Kalman
Extended Kalman FilterFilter (UKF),
Filter (EKF)
(EKF)
Two classes of observer design methods have been pro- filters/observers
or its modified such as
version as Unscented
Extended Kalman Kalman Filter (UKF),
Filter (EKF)
posed
Two
Two in literature.
classes
classes of One
of observer
observer is related
design
design to state
methods
methods estimation.
have
have been
been pro-The
pro- Julier
or
or its and
its modified
modified Uhlmann
version (1997),
as
as Unscented
version (1997), Unscentedhave been
Kalman
Kalman usedFilter
Filterin nonlin-
(UKF),
(UKF),
posed in
well-known literature.
KalmanOne One
filteris related
is (Kalman to state
to(1960)) estimation.
and its exten- The
The JulierJulier and Uhlmann
ear filter/observer
and designs. have
Because been used in
of non-efficiency nonlin-of
posed
posed in
in literature.
well-known literature.
Kalman One
filteris related to
related
(Kalman
state estimation.
state
(1960))
estimation.
andknowledge The
its exten-
exten- Julier
ear and Uhlmann
Uhlmann
filter/observer
(1997),
designs.
have
have been
(1997),Because been used
used in in nonlin-
ofofnon-efficiency
non-efficiency nonlin-of
sions are
well-known based
Kalmanon a plant
filter model,
(Kalman use or assume
(1960)) and its
its exten- ear proportional
ear filter/observer
filter/observerobservers in
designs.
designs. the presence
Because of unknown inputof
well-known
sions are
aboutare
sions thebased
Kalman
based
measurement
on
filter model,
on aa plant
plant (Kalman
noise,
model, use
are use
(1960))
ableor
andknowledge
ortoassume
assume
work with proportional observers
acting to theobservers
distur- proportional
knowledge system, PI-Observer
in theBecause
in the presence
presence
ofofnon-efficiency
has ofbeenunknown
proposed
unknown inputof
to
input
sions
about are
the based on
measurement a plant model,
noise, are use
are able or assume
to work
work withknowledge
distur- actingproportional
acting to the observers
system, in the
PI-Observer presence has of
beenunknown
proposed input
to
bance the
about
about descriptions
the measurement
measurement or disturbance
noise,
noise, are able model-based
able to
to work with observers.
with distur-
distur- actingestimate to unknown
the
the system,
tounknown system, inputs. Some extensions
PI-Observer
PI-Observer has
has been
beenin the structure
proposed
proposed to
to
bance
Other
bance descriptions
approaches
descriptions or designed
are
or disturbance
disturbance to model-based
estimate
model-basedstates observers.
resulting
observers. estimate
of PI-Observer
estimate unknown has inputs.
been
inputs. Some
introduced
Some extensions
by
extensions in
Lückel
in the
theandstructure
Müller
structure
bance descriptions or disturbance model-based observers. estimate
of unknown
PI-Observer has inputs. Some extensions in the structure
Other
from the
Other
Other
approaches
underlying
approaches
approaches
areand
are
areand
designed
assumed
designed
designed
to estimate
to estimate
modeling,
to estimate
states
states
states
resulting of
additionally
resulting
resulting of (1979) to improve
PI-Observer
PI-Observer has been
has been
been
introduced
the observer
introduced
introduced
by
by Lückel
by Lückel and
performance.
Lückel and
and
Müller
Increasing
Müller
Müller
from
from the
the underlying
underlying and assumed
assumed modeling,
modeling, additionally
additionally (1979)
(1979) to
to improve
improve the
the observer
observer performance.
performance. Increasing
Increasing
from the underlying and assumed modeling, additionally (1979) to improve the observer performance. Increasing
Copyright
2405-8963 © © 2015,
2015,IFAC
IFAC (International Federation of Automatic Control)
532Hosting by Elsevier Ltd. All rights reserved.
Copyright © 2015, IFAC 532
Copyright
Peer review © 2015,
under IFAC
responsibility
Copyright © 2015, IFAC of International Federation of 532
Automatic
532Control.
10.1016/j.ifacol.2015.05.049
 MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria F. Bakhshande et al. / IFAC-PapersOnLine 48-1 (2015) 532–537 533
the gain of PI-Observer helps to increase the performance
of the estimation, however due to the high gain the perfor-
mance is influenced by the measurement noise. This result
is firstly proposed by Müller (1988) and later including
proofs by Söffker et al. (1995). Advanced PI-Observer
(APIO) algorithm proposed by Liu and Söffker (2012), is
a method used for optimal scheduling of the PI-Observer
gain based on a cost function using a bank of PI-Observers.
It has the capability to define the relative optimal gain
at each step size of the PI-Observer integration routine.
Modified Advanced PI-Observer (MAPIO) has been intro-
duced by Bakhshande and Söffker (2014) to achieve better
estimation performance during the numerical integration.
In table 1 a brief survey of different observers and their
properties is presented.
3. PI-OBSERVER FORMULATION FOR DIFFERENT
TYPES OF SYSTEMS
Luenberger observer is widely used in classical control
field because of its capability to estimate system states. It
has a proportional feedback loop to control the dynamic
reconstructions of the system states based on the measure-
ments, assuming observability. Later PI-Observer has been
introduced to improve the robustness of estimation against
unknown inputs affecting to the system. This observer has
two feedback loops to be designed. Both (the proportional
and the integral loop) loops are used as feedback to recon-
struct not only the system states but also the disturbances,
unmodeled dynamics, or modeling errors as nonlinearities
assumed as additive acting inputs. A general model for a
linear time invariant system with unknown inputs can be
described as
ẋ(t) = Ax(t) + Bu(t) + N d(x, t) + Eg(x, t),
(1)
y(t) = Cx(t) + h(t),
with the state vector x(t) ∈ Rn , input vector u(t) ∈ Rm ,
measurement vector y(t) ∈ Rr , unknown input d(x, t) ∈
Rl , measurement noise h(t) ∈ Rr , and unmodeled dynam-
ics g(x, t) ∈ Rp . Here the unknown input d(x, t) and the
input matrix N are used to model the additive unknown
inputs. Depending on the design approach, knowledge
about the dynamics of d(x, t) is assumed (disturbance
observer) or not assumed (Proportional-Integral observer).
Matrices A, B, and C are are assumed as known and
of appropriate dimensions. One old but typical approach
(Söffker et al. (1995)) to approximate the additive acting
dynamics d(x, t) is the approximation
v̇ = V v(t),
(2)
d(t) ≈ Hv(t),
in which V acts as linear model describing the disturbance
behavior. By considering the system states and unknown
inputs as the states of an extended system, the following
state space representation is used to approximate the
system description
        
ẋ(t) A N H x(t) B Eg(t)
= + u(t) + ,
v̇(t) 0  V  v(t) 0 0
(3)
x(t)
y(t) = [C 0] .
v(t)
The matrices H and V are used to calibrate the inputs
relations between the real system and the model (H)
as well as the dynamics (V ). However based on Söffker
et al. (1995), the adequate choice is V = 0 or V ⇒ 0
533
and H = I. Using this numbers according to the former
used disturbance observer philosophy, the disturbance is
assumed as constant. It becomes then the task of high gain
observers to step-wise approximate the unknown input as
step-wise changed constant. Accordingly the system states
and unknown inputs can be estimated using PI-Observers
as
˙
x̂(t) A N x̂(t) B L1
˙v̂(t) = 0 0 v̂(t) + 0 u(t) + L2 (y(t) − ŷ(t)),
  
  L
x̂(t)
ŷ(t) = [C 0] .
v̂(t)
(4)
The matrix L (4) has to be designed by using different
design methods. Estimation of unknown inputs with the
purpose of control is known as Disturbance Observer-based
Control (DOBC) method which has been developed and
implemented for linear system in two past decays (Nakao
et al. (1987)). When a nonlinear system with unknown
inputs should be controlled, the challenging points are the
analysis and the design of a complex controller contains a
nonlinear controller and a nonlinear disturbance observer.
Sliding model-based nonlinear disturbance observer (Chen
et al. (2000)) has been introduced to improve the perfor-
mance of estimation. Based on the proposed structure by
Chen (2004), the class of nonlinear system to be mentioned
is defined as
ẋ(t) = f (x(t)) + g1 (x(t))u + g2 (x(t))d(t),
(5)
y(t) = h(x(t)),
with x(t) ∈ Rn as state, u(t) ∈ R as input, and d ∈ R as
unknown input. Nonlinear functions f (x), g1 (x), g2 (x) are
assumed as smooth functions in terms of x. Furthermore
it is assumed that the dynamics of the unknown input
or disturbance can be approximated as linear system,
described by
ξ˙ = Aξ,
(6)
d = Cξ,
with A and C matrices which represent the disturbance
model and have to be defined based on the disturbance
information. The observer structure to estimate unknown
inputs acting to the system can be assumed as
ż(t) = (A − l(x)g2 (x)C)z + Ap(x)
−l(x)(g2 (x)Cp(x) + f (x) + g1 (x)u),
(7)
ξˆ = z + p(x),
dˆ = C ξ, ˆ
here l(x) is a nonlinear gain function, z ∈ Rm is considered
as the internal state variable. Nonlinear function p(x) ∈
Rm should be designed (a design method is proposed by
Chen (2004)) and after that nonlinear observer gain l(x)
can be calculated as
l(x) = ∂p(x)
∂x .
(8)
The proposed method is introduced by Chen (2004) with
the proof of global exponential stability of the proposed
nonlinear observer.
4. PI-OBSERVER DESIGN METHODS
Based on literature the tasks of PI-Observer can be divided
into five main categories: (1) State estimation with the
purpose of control, (2) Identification and estimation of
MATHMOD 2015
February 18 - 20, 2015. Vienna, Austria
534 F. Bakhshande et al. / IFAC-PapersOnLine 48-1 (2015) 532–537

system nonlinearities and model uncertainties, (3) Improv- qm1 and

ing the stability margin in Loop Transfer Recovery (LTR) desired step size MAPIO
design with the especial attention to the time recovery
effect of PI-Observer, (4) Removing or attenuation of dis- qr = qm1 × 10
t
e(τ )T e(τ )dτ ≤ 
Yes
turbance in the control loops, and (5) Fault Detection and ql = qm1 /10 t−h

Isolation (FDI) for both sensors and/or actuators. In the

past half century several design methods for different types qr − qm1 = dr No
qm1 − ql = dl
of system and with different purposes have been proposed.
For instance H-infinity norm minimization method has Yes
dl ordr ≤ α
been proposed by (Shafai et al. (2002)) to design the
PI-Observer with the purpose of disturbance attenuation qr = qm1 ∗ 3/4dr No
and fault detection. Linear Matrix Inequality-based (LMI) ql = qm1 ∗ 3/4dl
robust design under the convex bounded uncertainties,
Yes
known as convex optimization method, has been proposed Jm = minJl , Jm , Jr

to improve robustness against system nonlinearities and

model uncertainties (Jung et al. (2008)). Eigenstructure No
assignment design (Duan et al. (2001)), Linear Quadratic
Regulator (LQR) method (Söffker et al. (1995)) to esti- Min J in Second optimized
mate the states and system nonlinearities using weighting |[qm1 qm2 ]| parameter qm2
matrices for suitable scaling of high gains, as well as
several other methods have been proposed to improve the © SRS 201 4
The best design
performance of PI-Observer estimation. parameter q

5. HIGH GAIN SCHEDULING OF PI-OBSERVER Fig. 1. Modified Advanced PI-Observer algorithm

(Bakhshande and Söffker (2014))
PI-Observer has an integral part as an additional degree
bank of PI-Observers with limited numbers of gains to
of freedom in comparison to the well-known Luenberger
find the relative optimal one. Unlike API-Observer, MAPI-
observer. This additional degree of freedom can be used
Observer attempts to find the absolute optimal design
either to improve the accuracy of steady-state estimation
parameter q within a suitable defined continuous interval
or the robustness of estimation against unknown inputs.
of options and not only between a few limited options. The
By increasing the gain of PI-Observer the performance
proposed method receives the first relative optimal design
would be increased, however the performance is influenced
parameter q and the desired step size of integration as in-
by measurement noise (Söffker et al. (1995)). More re-
puts from API-Observer algorithm. Thereafter it finds the
cent, an adaptive gain design method based on the de-
second relative optimal design parameter q by shrinking
sired performance has been introduced as an innovative
the interval between three assumed parameters. Afterward
method to achieve better efficiency. Time-variant opti-
absolute optimal parameter q can be calculated by search-
mal gain method is firstly introduced as Advanced PI-
ing in the interval between mentioned two relative optimal
Observer (API-Observer) by Liu and Söffker (2012) for
parameters. Optimization methods can be used to achieve
online adaption of observer gain embedded in the numer-
the absolute one in this interval. MAPI-Observer has also
ical integration. In this method a bank of PI-Observers
the capability to implement the designed parameter q at
with a suitable gain scheduling and online design approach
the present integration time which could not be achieved
is considered. At each integral step different design pa-
using API-Observer.
rameters are used to define the ’relative optimal gain’
results from a cost function. The cost function is defined
so that the effect (estimation) and the related energy are 6. SIMULATION RESULTS USING ACC
evaluated. The cost function is calculated for three PI- BENCHMARK
Observers which work parallel but with different gains.
Therefore the introduced algorithm searches between lim- In this contribution ACC Benchmark introduced by Wie
ited numbers of gains to find the relative optimal one. In and Bernstein (1992) is considered to evaluate the pro-
the consequence of changing and scheduling the gain of posed observer. The two-mass-spring system illustrated in
PI-Observer based on the cost function, the performance Fig. 2 is an uncertain dynamical system comprises two
is improved in comparison to PI-Observer and especially bodies with the masses m1 and m2 which are connected
in the presence of noise. To achieve an absolute optimal by a spring with the stiffness k. The introduced model is
gain, defined as the best possible gain with respect to the defined as
    
criteria evaluated at each step of numerical integration ẋ1 0 0 1 0 x1
procedure, Modified API-Observer (MAPI-Observer) has ẋ2   0 0 0 1 x2 
been proposed by Bakhshande and Söffker (2014). In Fig. 1 ẋ  = −k/m k/m 0 0 x 
3 1 1 3
MAPI-Observer algorithm with q and J parameters (ob- ẋ4  k/m2 −k/m  2 0 0 x4
server design parameter, cost function) for three different 0 0 (9)
observers respectively is illustrated. Furthermore two other  0   0 
+ (u + w1 ) +  w ,
parameters ε and α are considered as additional design 1/m1  0  2
parameters which can improve the performance of output 0 1/m2
estimation. As mentioned, API-Observer is based on a y = x2 + n,

534
MATHMOD 2015
February
18 - 20, 2015. Vienna, Austria F. Bakhshande et al. / IFAC-PapersOnLine 48-1 (2015) 532–537 535

Table 1. Survey of different observers/filters and their properties

Design in frequency domain

and stability improvement
Robustness performance
Disturbance estimation

Design in time domain

Parameter estimation

Nonlinear observer

Adaptive structure

disturbance model

standard methods
Requires accurate
High gain design
State estimation

Linear observer

Requires noise

system model

Design with
information

Complexity
Based on
Developer (first
Approach-Property
publication//name)
Disturbance Luenberger Kalman

State estimation of
Observer Observer Observer Filter

a system with white 1960 Kalman x x x x x x x x x

and Gaussian noise

State estimation of
1964 Luenberger x x x x x x
a linear system

External disturbance 1972, Davison

x x x x x x x x
estimation 1976, Johnson

1978
State and unknown SISO
Wojciechowski x x x x x x x x
input estimation
PI

1979,Kaczorek
MIMO 1985, Shafai
and Carroll
Since 1993
UnscentedExtended High-gain

States and unknown Söffker,Müller.

observer

input estimation Since 1995 as x x x x x

with high gain PI-Observer, Müller,
Lückel and Söffker.
2010 Liu and Söffker x x x x x x
KF

State and parameters 1964 H. Cox x x x x x x x x x x

estimation for
a noisy dynamic
system
KF

1995 S.J. Julier x x x x x x x x x

 
with x1 and x2 denoting the positions of the masses 1 I4 04×1
and 2, x3 and x4 the velocities of the masses 1 and 2, Q= , R = I, (12)
01×4 q
u the control input acting on the masses 1, w1 and w2
the unknown input forces acting on the masses 1 and 2 with one scalar design parameter q which can be scheduled
(as friction forces resp.), and n the measurement noise. to improve the system robustness and output performance.
This benchmark problem is mostly used to evaluate the This task can be done using API/MAPI-Observer meth-
robustness of control design. Therefore a close loop system ods. For evaluation part three scenarios has been consid-
consisting of an observer to estimate the system states as ered (table 2). To avoid effects from the feedback, exactly
well as the unknown inputs, and a state feedback controller the same feedback controller is applied for all combina-
have been considered. Based on (4) the states x(t) and tions. First of all simulation results without considering
the unknown input d(t) can be estimated using a high- the measurement noise and with an external unit impulse
gain observer. The following structure can be considered disturbance w2 applied on the mass 2 (Scenario 1) are
to design a feedback control gain. illustrated in Fig. 3. In the case without consideration of
         measurement noise it can be concluded that PI-Observer
ẋ(t) A N H x(t) B Eg(t)
= + u(t) + , with high gain in combination with the proposed controller
v̇(t) δ  V  v(t) 0 0
(10) has suitable settling time in the output response. But on
x(t) the other hand, in disturbance estimation results it can be
y(t) = [C 0] ,
v(t) seen that the design gain parameter q has to be properly
with δ parameter which has been considered to design an chosen. With considering a low gain PI-Observer is not
external feedback (Davison (1972)) and which is chosen as able to estimate the impulse disturbance and consequently
zero in the case of observer design. A feedback control gain has low performance with osculation in the output sig-
can be proposed as nal. However by increasing the observer gain, estimation
result for PI-Observer is comparable with API/MAPI-
u = −Kx x̂(t) − Kv v̂(t). (11) Observer. Regarding the difficulty of determining suitable
Control gains Kx and Kv have been designed using LQR gain of PI-Observer especially in practical applications,
method and with symmetric positive definite matrices API/MAPI-Observer are more considerable. From the re-
Q and R which have appropriate dimensions. High-gain sults it becomes obvious that disturbance estimations and
PI-Observer feedback matrices L can be designed using output response using API/MAPI-Observer are almost as
LQR method. For an asymptotic stable observer, positive good as the results using PI-Observer with a constant
definite matrices Q and R are considered as high gain. In Scenario 2 impulse disturbance w2 ap-

535
MATHMOD 2015
536
February 18 - 20, 2015. Vienna, Austria F. Bakhshande et al. / IFAC-PapersOnLine 48-1 (2015) 532–537

0.3
x1 x2 APIO
MAPIO
0.2

x2
u 0.1
m1 m2 w2
w1 k 0

© SRS 2014 -0.1

2 4 6 8 10 12 14

Estimation of w1
2 Real disturbance
APIO
Fig. 2. Two-mass-spring system, ACC Benchmark (Wie 1.5 MAPIO
1
and Bernstein (1992)). 0.5

-0.5

-1
PIO, q=10 4 0.5 1 1.5 2 2.5 3
0.8 PIO, q=1010 2
Output signal x2

APIO APIO

Input signal
MAPIO MAPIO
0.6 1

0.4
0

0.2
-1
0
-2
-0.2 2 4 6 8 10 12 14
0 2 4 6 8 10 12
Time (s)
Estimated disturbance w2

Real disturbance
4
PIO, q=10
2
PIO, q=10 10
APIO Fig. 6. Estimation results, scenario 3
1.5 MAPIO

1
Observer, the disturbance estimation is strongly effected
0.5
by the measurement noise. This effect is expected and also
0 described in previous publications. In contrast, estima-
-0.5 tion result using low constant gain for PI-Observer illus-
0 0.5 1 1.5 2 2.5 3
Time (s) trates no influence from the measurement noise and also
no acceptable performance in the disturbance estimation.
Fig. 3. Estimation results, scenario 1 On the contrary, API/MAPI-Observer have capability to
1
estimate the disturbance also in the presence of noise
PIO, q=10 4 because of combining the advantages of both high and
Estimated disturbance w2Output signal x2

PIO, q=1010
APIO
MAPIO
low gain based on the desired performance evaluation.
0.5
From the simulation results it can be seen that MAPI-
Observer reacts faster and with smaller time delay than
0 API-Observer. Furthermore in the disturbance estimation
process MAPI-Observer acts almost equal or better than
-0.3
0 5 10 15 API-Observer. From the output response shown in Fig. 4
3
Real disturbance
PIO, q=10 4 it can be concluded that in combination with the proposed
2.5
2
PIO, q=1010
APIO
controller, PI-Observer with high gain has suitable settling
1.5
MAPIO
time and output response. However judging only based on
1
0.5
the output response is not completely reliable. Actually
0 the evaluation of the observer-based control results using
-0.5
-1
the introduced example is done based on a suitable crite-
T T
-1.5
0 0.5 1 1.5 2 2.5 3
ria (Liu and Söffker (2012)) C = [ 0 e2 (t)dt, 0 u2 (t)dt]
Time (s) which has to be minimized. This criteria considers both
the output error e(t) and the input energy u(t). The
Fig. 4. Estimation results, scenario 2 interval length T is considered as 10 sec which denotes
-4
the time window, where the performance is considered and
x 10

PIO
compared. Results with/without noise and with the same
PIO-noise
APIO controller for three different observers are illustrated in
3
APIO-noise
MAPIO Fig. 5. With the same input energy the observer which
MAPIO-noise
has lower output error or correspondingly with the same
e2 (t)dt

output error which uses less input energy (closer to the

2
origin) has better performance. From the results it is evi-
T

dent that without considering measurement noise, output

0

1 error using PI-Observer is always less than the output

error for other two observers but in the presence of noise
0
PI-Observer requires the maximum energy and has the
0 500 1000 1500 2000 2500 3000 3500 4000
T
u2 (t)dt
maximum distance from the origin in comparison to the
0
API/MAPI-Observer. On the other hand MAPI-Observer
Fig. 5. Comparison by means of criterion C requires always the minimum input energy. Output error
using MAPI-Observer is always less than the output error
plied on the mass 2 and in the presence of measurement using API-Observer. Results with smaller change in the
noise is taking into consideration. Results presented in trajectory under consideration of noise have more robust-
Fig. 4 clearly indicate that with high constant gain for PI- ness. From Fig. 5 it can be concluded that MAPI-Observer

536
 MATHMOD 2015
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Table 2. Scenarios for simulation results
Disturbance w2 acting on the mass 2
Scenario 1
without measurement noise
Disturbance w2 acting on the mass 2
Scenario 2
with measurement noise
Disturbance w1 acting on the mass 1
Scenario 3
without measurement noise
has better performance in comparison to API-Observer
however API-Observer has more robustness because of its
smaller change in the trajectory under consideration of
noise.
As mentioned external disturbance can be applied on
the mass 1 or mass 2. Estimation of disturbances affected
to the same point as the system output is not usually
so critical. The challenging point is when disturbance is
applied to states different from the system output (the
measured variable). Because of system dynamics between
the point of applied disturbance w1 and measured output,
in this case the behavior of disturbance in the output
is affected. In order to evaluate the proposed observers
an external impulse disturbance applied on the mass 1
and without measurement noise is considered in scenario
3. Simulation results for API/MAPI-Observers are shown
in Fig. 6. It can be seen that MAPI-Observer acts with
smaller time delay and more smoothly than the API-
Observer. Besides from input signal it can be concluded
that MAPI-Observer requires less input energy for the
estimation process. However neither API/MAPI-Observer
is able to estimate such a disturbance applied into differ-
ent channel as the measurement output. To remove this
problem those parts of the dynamics of the system which
affect the disturbance should be considered in the design
method as a suggestion for future work.
7. CONCLUSION
In this contribution Proportional-Integral-Observer in
combination with a brief survey about the development
steps of this observer approach is introduced. A general
formulation of linear and nonlinear systems in the com-
bination with PI-Observer is proposed. Several linear and
nonlinear design methods have been briefly introduced.
Besides high gain scheduling of the PI-Observer, Advanced
PI-Observer and Modified Advanced PI-Observer are in-
troduced to improve the estimation robustness and perfor-
mance. American Control Conference benchmark has been
used to evaluate the proposed methods. Simulation results
illustrate the advantages of Modified API-Observer in the
comparison to PI-Observer and Advanced PI-Observer.
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