Speed Estimation of DC Series Motor by Constant Gain Extended Kalman Filter

The DC series motor is widely used in heavy duty applications. The state estimation problem of this nonlinear system poses difficulties owing to the complex mathematical structure and turn out to be more challenging when the system is involved noisy state variables. A suitable nonlinear transformation matrix has been used for modelling the system in generalized canonical form, not necessarily control affine, to ensure it as uniformly observable system. A constant gain based Extended Kalman Filter (hereinafter EKF) has been used for achieving robust performance without compromising the benefits of original optimal Kalman Filter based gain design.