Computer Aided Implementation of Estimator Based Inverse Dynamics Controller for the Control of Non-Measurable State Variables of an Autonomous Hybrid System

Abstract—A Computer aided implementation of an estimator based inverse dynamics controller (EBIDC) algorithm for the efficient control of the states, especially the non-measurable states of an autonomous hybrid system (AHS) is proposed in this paper. Case of a cylindrical three-tank hybrid system is demonstrated. The studies combining behaviors of both discrete event and continuous systems are of utmost importance nowadays and thus study of dynamics of hybrid systems and control strategies for performance improvement is very important in the present scenario. This algorithm makes use of a state estimator for estimating all the states of the system which uses a generic nonlinear model of the actual system. The efficacy of the developed EBIDC is demonstrated by conducting simulation studies using Matlab under different operating modes of the system. Both set point tracking and disturbance rejection capabilities of the proposed controller are also confirmed in this work. The robustness of EBIDC in controlling the non-measurable states is also analyzed under different uncertainties.

Index Terms—Autonomous hybrid systems, derivative-free state estimator, estimator based inverse dynamics controller, unscented kalman filter (UKF) in state estimation.

V. Shijoh and M. V. Vaidyan are with the National Institute of Technology, Calicut, Kerala (e-mail: meshij4u@ gmail.com, mvv@ nitc.ac.in).
M. V. Varghese is with the Department of Computer Engineering, King Khalid University, Abha, KSA (e-mail: varghese86@gmail.com).

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Cite: V. Shijoh, M. V. Vaidyan, and M. V. Varghese, "Computer Aided Implementation of Estimator Based Inverse Dynamics Controller for the Control of Non-Measurable State Variables of an Autonomous Hybrid System," Lecture Notes on Software Engineering vol. 1, no. 3, pp. 284-288, 2013.