1real Time State Estimators Integrated in a Dc Servomotor Angular Speed Control System – Results Comparison

This paper is an interesting extension of the results presented in detail in the recent conference paper concerning the real time implementation of a sliding mode observer state estimator integrated in a dc Servomotor angular speed control system. In the extended version of this paper we introduced another linear estimator as a possible alternative to the Sliding Mode Observer estimator, more precisely a linear Kalman Filter. Based on their capability to perform well, and also to be robust to the possible changes in the control system dynamics, we are focused in our research to find the most suitable estimator for this kind of application. For comparison purpose of the estimators performance a detailed analysis is done at the end of this paper using as criterion the evolution of the residuals between the estimated values of the states and theirs true values during the transient and the steady state. Extensive simulations were carried out in this direction, in real-time environment, on the real time implementation platform MATLAB and SIMULINK.