Work

Algebraic Design of a Discrete-Time Angle Tracking Observer

Year: 2025

Type: conference-paper

Abstract: This 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.

Source: Proceedings of the Annual Conference of the IEEE Industrial Electronics Society

DOI: 10.1109/iecon58223.2025.11221452

Authors: Lukas Zezula, Petr Blaha

Institutions: Central European Institute of Technology, Brno University of Technology

Language: English

Topic: Advanced Control Systems Design

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: Ministry of Education, European Commission, Technologická Agentura České Republiky, Vysoké Učení Technické v Brně

Awards: G3622461675, G3948935741, Research and Innovation Centre on Advanced Industrial Production, G996262763