The wearable sensor system developed by our group, which measured lower limb angles using Kalman-filtering-based method, was suggested to be useful in evaluation of gait function for rehabilitation support. However, it was expected to reduce variations of measurement errors. In this paper, a variable-Kalman-gain method based on angle error that was calculated from acceleration signals was propo...

This paper considers output feedback control using high-gain observers in the presence of measurement noise for a class of nonlinear systems. We study stability in the presence of measurement noise and illustrate the tradeoff when selecting the observer gain between state reconstruction speed and robustness to model uncertainty on the one hand versus amplification of noise on the other. Based o...

The paper considers the problem of measurement information fusion from different sources, when one of the sources is an information about approximate values of the measured variables or their combinations. The information is given with fuzzy models and is used in combination with the measurement results. The properties of the modified estimates are studied in comparison with the conventional on...