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L-2 State Estimation With Guaranteed Convergence Speed in the Presence of Sporadic Measurements
This paper deals with the problem of estimating the state of a nonlinear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is proposed. Such an intersample injection is provided by a linear dynamical system, whose state is reset to the measured output estimation error whenever a new measurement is available. The resulting system is augmented with a timer triggering the arrival of a new measurement and analyzed in a hybrid system framework. The design of the observer is performed to achieve exponential convergence with a given decay rate of the estimation error. Robustness with respect to external perturbations and L2-external stability from plant perturbations to a given performance output are considered. Computationally efficient algorithms based on the solution to linear matrix inequalities are proposed to design the observer. Finally, the effectiveness of the proposed methodology is shown in an example
Yet Another Tutorial of Disturbance Observer: Robust Stabilization and Recovery of Nominal Performance
This paper presents a tutorial-style review on the recent results about the
disturbance observer (DOB) in view of robust stabilization and recovery of the
nominal performance. The analysis is based on the case when the bandwidth of
Q-filter is large, and it is explained in a pedagogical manner that, even in
the presence of plant uncertainties and disturbances, the behavior of real
uncertain plant can be made almost similar to that of disturbance-free nominal
system both in the transient and in the steady-state. The conventional DOB is
interpreted in a new perspective, and its restrictions and extensions are
discussed
Experimental violation of a Bell's inequality in time with weak measurement
The violation of J. Bell's inequality with two entangled and spatially
separated quantum two- level systems (TLS) is often considered as the most
prominent demonstration that nature does not obey ?local realism?. Under
different but related assumptions of "macrorealism", plausible for macroscopic
systems, Leggett and Garg derived a similar inequality for a single degree of
freedom undergoing coherent oscillations and being measured at successive
times. Such a "Bell's inequality in time", which should be violated by a
quantum TLS, is tested here. In this work, the TLS is a superconducting quantum
circuit whose Rabi oscillations are continuously driven while it is
continuously and weakly measured. The time correlations present at the detector
output agree with quantum-mechanical predictions and violate the inequality by
5 standard deviations.Comment: 26 pages including 10 figures, preprint forma
A Multi-Observer Based Estimation Framework for Nonlinear Systems under Sensor Attacks
We address the problem of state estimation and attack isolation for general
discrete-time nonlinear systems when sensors are corrupted by (potentially
unbounded) attack signals. For a large class of nonlinear plants and observers,
we provide a general estimation scheme, built around the idea of sensor
redundancy and multi-observer, capable of reconstructing the system state in
spite of sensor attacks and noise. This scheme has been proposed by others for
linear systems/observers and here we propose a unifying framework for a much
larger class of nonlinear systems/observers. Using the proposed estimator, we
provide an isolation algorithm to pinpoint attacks on sensors during sliding
time windows. Simulation results are presented to illustrate the performance of
our tools.Comment: arXiv admin note: text overlap with arXiv:1806.0648
Recent advances on recursive filtering and sliding mode design for networked nonlinear stochastic systems: A survey
Copyright © 2013 Jun Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Some recent advances on the recursive filtering and sliding mode design problems for nonlinear stochastic systems with network-induced phenomena are surveyed. The network-induced phenomena under consideration mainly include missing measurements, fading measurements, signal quantization, probabilistic sensor delays, sensor saturations, randomly occurring nonlinearities, and randomly occurring uncertainties. With respect to these network-induced phenomena, the developments on filtering and sliding mode design problems are systematically reviewed. In particular, concerning the network-induced phenomena, some recent results on the recursive filtering for time-varying nonlinear stochastic systems and sliding mode design for time-invariant nonlinear stochastic systems are given, respectively. Finally, conclusions are proposed and some potential future research works are pointed out.This work was supported in part by the National Natural Science Foundation of China under Grant nos. 61134009, 61329301, 61333012, 61374127 and 11301118, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant no. GR/S27658/01, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany
Revisiting spatial vision: toward a unifying model
We report contrast detection, contrast increment, contrast masking, orientation discrimination, and spatial frequency discrimination thresholds for spatially localized stimuli at 4° of eccentricity. Our stimulus geometry emphasizes interactions among overlapping visual filters and differs from that used in previous threshold measurements, which also admits interactions among distant filters. We quantitatively account for all measurements by simulating a small population of overlapping visual filters interacting through divisive inhibition. We depart from previous models of this kind in the parameters of divisive inhibition and in using a statistically efficient decision stage based on Fisher information. The success of this unified account suggests that, contrary to Bowne [Vision Res. 30, 449 (1990)], spatial vision thresholds reflect a single level of processing, perhaps as early as primary visual cortex
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