Observer Empirical Optimization in Open and Closed Loop

In this work, the empirical optimization problem [1], [2] of a real online servo-control system is redone in a digital simulation environment. Where, a series of simulation experiments are executed to test the observer performance in estimating the states of a mechanical system first in open loop without any feedback control. This has been done to separate the observation problem from the control problem and to guarantee no interference between the measured output and the system input that could take place by closing the loop. Second, the performance of the observer and the controller are investigated in closed loop. Then the results are presented, discussed and compared to the results and conclusions done on the real online system [1], [2]. Where, it has been found that the simulation results have complied with and approved the predicted results and conclusions of the original real time online servo-control system.