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It has been shown previously that the robustness of deterministic observers with respect to modeling errors, measurement bias and roundoff errors can be represented by a single performance index, κ 2(P), the condition number of the observer eigenvector matrix. In this paper, based on the performance index, a robust observer design method is proposed for two-output systems where the observer gain can not be determined uniquely with respect to the desired observer poles. The proposed design method is evaluated in a spindle-drive simulation example where the load speed needs to be estimated based on the measured signals.
Date of Conference: 5-7 Oct. 1997