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contributor authorM. Hou
contributor authorTh. Schmidt
contributor authorR. Schüpphaus
contributor authorP. C. Müller
date accessioned2017-05-08T23:40:49Z
date available2017-05-08T23:40:49Z
date copyrightDecember, 1993
date issued1993
identifier issn0022-0434
identifier otherJDSMAA-26200#611_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/111616
description abstractNormal forms are presented for linear mechanical systems with holonomic and/or nonholonomic constraints. These forms provide deep insight into the peculiar system structure of constrained linear mechanical systems or the so-called linear mechanical descriptor systems. Based on these normal forms, an explicit observer design method is proposed under a weaker observability assumption, i.e., finite observability or reachable observability on the linear mechanical descriptor systems. The observer has the Luenberger observer form and provides the estimation of displacements, velocities, and constraint forces simultaneously. The finite observability is shown to be a necessary and sufficient condition for the existence of this type of observer. The reason for the existence of the Luenberger observers for finitely observable linear mechanical descriptor systems is due to the special system structure. Two examples are included to illustrate the design method.
publisherThe American Society of Mechanical Engineers (ASME)
titleNormal Form and Luenberger Observer for Linear Mechanical Descriptor Systems
typeJournal Paper
journal volume115
journal issue4
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.2899188
journal fristpage611
journal lastpage620
identifier eissn1528-9028
keywordsForce AND Design methodology
treeJournal of Dynamic Systems, Measurement, and Control:;1993:;volume( 115 ):;issue: 004
contenttypeFulltext


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