Experimental Testing of Observers Comprising Discrete Kalman Filter and High-Gain Observers

In this work, two observers are designed and tested. Structure of novel observer is composed of Extended High-Gain observer for estimation of output, augmented with the High-Gain observer for estimation of internal dynamics. Extended High-Gain observer also estimates a signal that is used as a virtual output to the internal dynamics. Observers are designed in MATLAB and tested on DC motor experimental setup interfaced with LABVIEW. Further, the performance of Discrete Kalman Filter and High-Gain observer augmented with Extended High-Gain observer is investigated experimentally.