Nonlinear Estimation: An Experimental Approach

This paper presents the modeling and sensorless estimation of an Electromagnetic Valve Actuator (EMV). A nonlinear model is formulated and presented that takes into account secondary nonlinearities like hysteresis, saturation, bounce and mutual inductance. The uniqueness of the model is contained in the method used in modeling hysteresis, saturation and mutual inductance. Theoretical and experimental methods for identifying parameters of the model are presented. The nonlinear model is experimentally validated. A unique nonlinear observer structure is presented that incorporates the Multi-Input Multi-Output (MIMO) nature of the EMV dynamics, using the sliding mode methodology. The stability of this observer structure is proved. Simulation and experimental results are presented.