Publications

2025

1. 

   Design of Input-Output Observers for a Population of Systems with Bounded Frequency-Domain Variation using DK-iteration

   Timothy Everett Adams and James Richard Forbes

   2025

    Abstract  BibTeX  PDF  Code

   This paper proposes a linear input-output observer design methodology for a population of systems in which each observer uses knowledge of the linear time-invariant dynamics of the particular device. Observers are typically composed of a known model of the system and a correction mechanism to produce an estimate of the state. The proposed design procedure characterizes the variation within the population in the frequency domain and synthesizes a single robust correction filter. The correction filter is compatible with all system models that satisfy the variation characterization such that a given level of estimation performance is guaranteed. This is accomplished by posing a robust performance problem using the observer error dynamics and solving it using DK-iteration. The design procedure is experimentally demonstrated on a flexible joint robotic manipulator with varied joint stiffnesses. It is shown that the proposed method that uses a single correction filter achieves comparable estimation performance to a method that uses a correction gain tailored toward each joint stiffness configuration.

   @misc{adams2025designinputoutputobserverspopulation,
     title = {Design of Input-Output Observers for a Population of Systems with Bounded Frequency-Domain Variation using $DK$-iteration},
     author = {Adams, Timothy Everett and Forbes, James Richard},
     year = {2025},
     eprint = {2509.07201},
     archiveprefix = {arXiv},
     primaryclass = {eess.SY},
     url = {https://arxiv.org/abs/2509.07201},
     selected = true,
     bibtex_show = true,
   }