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A systematic approach to robustly reject persistent disturbances in target tracking applications

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2 Author(s)
Bas, O.Y. ; MathWorks Inc., Natick, MA, USA ; Shafai, B.

The problem of Kalman filtering for systems involving unmodeled persistent disturbances is studied. A proportional-integral (PI) Kalman filter for accommodation of such disturbances is proposed. A theoretical analysis is included in the paper. The robustness properties of the PI Kalman filter are demonstrated both analytically and through simulations

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American Control Conference, 2001. Proceedings of the 2001  (Volume:5 )

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