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When a Kalman filter is applied to an image for restoration purposes, the model of the original image affects the accuracy of the restoration. The model for effective restoration depends on the correlation of the original image and the variance of the noise. If these parameters are unknown, they have to be estimated from the observed image. In this paper, a method to estimate the unknown parameters...
We propose a classification of several algorithms for solving the discrete-discrete band-limited interpolation and extrapolation problems. The classification is based on the dimension of certain underlying vector spaces, and distinguishes between time-domain and frequency-domain methods. This perspective allows a synthetic view of the problem, clarifies the connections between some of the existing...
This paper describes a method by which a set of piece-wise constant autoregressive parameters could be obtained when the source signal is subject to a multistage analysis. It also illustrates an FIR prediction scheme with application to a speech process. It describes a method where the prediction is carried out on a sample by sample basis. This prediction scheme demonstrates the possibility of having...
The present work deals with the classical problem of speed estimation for a small 4 rotors helicopter drone based on acceleration, rotation angles and angular speed measurements only. This problem concerns indoors applications as well as outdoors applications close-by large structures. Small Unmanned Air Vehicles (UAV) are commonly used for inspection applications such as beneath bridges, water dams,...
A bias-correction method for closed-loop identification, introduced in the literature as the bias-eliminated least squares (BELS) method [9], is shown to be equivalent to a basic instrumental variable estimator applied to a predictor for the closed-loop system. This predictor is a function of the plant parameters and the known controller. Corresponding to the related method using a least squares criterion,...
The aim of this paper is to find a fixed structure transfer matrix, whose dynamics (i.e. whose poles) are not a priori fixed, and whose frequency response is the closest as possible to a target one. This non convex optimization problem is recast into a generalized μ problem. A generalized n lower bound is proposed, which provides an a priori suboptimal solution (i.e. a local minimum), namely a transfer...
The theoretic ground of a locally topological method for defining a minimal attractor embedding dimension on the basis of linear and nonlinear decompositions in state-space of a dynamic system is proposed. The computer confirmation of the theoretical results is presented.
Estimation of structure and motion in computer vision systems can be performed using a dynamic systems approach, where states and parameters in a perspective system are estimated. This paper presents a new approach to the structure estimation problem, where the estimation of the 3D-positions of feature points on a moving object is reformulated as a parameter estimation problem. For each feature point,...
The paper proposed to apply a fuzzy-neural recurrent multi-model for systems identification and states estimation of complex nonlinear plants. The parameters of the local recurrent neural network models are used for a local indirect adaptive trajectory tracking control systems design. The designed local control laws are coordinated by a fuzzy rule based control system. The applicability of the proposed...
This paper considers the problem of applying eigenstracture assignment to parameter dependant systems. The concept of modal sensitivity is introduced, and a recently presented method for the assignment of reduced sensitivity eigenstracture is presented in this context. A new proof for this method is presented, allowing greater insight into the sensitivity problem, and leading to a more flexible design...
For both continuous and discrete-time cases, this paper presents a simple solution to the robust H∞ unbiased functional reduced order filtering problem via LMI methods in the presence of norm-bounded time-varying uncertainties. Necessary and sufficient conditions for the existence and the stability of the unbiased filter are given in the nominal case; the filter differs from that of 11] (only nominal...
In this paper the trajectory tracking control problem for a certain class of propagation processes modeled as Quasi-Linear Parameter Varying systems is considered. The propagation physical models are generally described by means of PDEs (partial differential equations). However in real world control problems the PDE models are usually converted into ODEs (ordinary differential equations) models adopting...
Nonlinear optimal control problems, in which state trajectories are permitted to be discontinuous at a finite number of times, and the jump times are choice variables, are analysed. Problems such as these arise in economics, lazer technique, and robototechnique. Necessary conditions for optimality, in the form of a Maximum Principle, for the impulse optimal control problems with general terminal and...
This paper addresses the detectability problem. Discrete time LTI systems, with additive faults and bounded nuisances are considered. The parity space detectability condition is shown to be only sufficient with respect to the structural (“true”) system detectability property.
This paper is concerned with the application of eigenstracture assignment to nonlinear systems. Conventionally, eigenstracture assignment considers only a single operating point during design, and as a result may produce a controller that is sensitive to plant parameter variations. Here, the eigenvector subspace is considered to produce a controller that takes account of two operating conditions,...
In this paper, a nonlinear robust controller is proposed for the goal of power stabilization in power systems. The here-proposed approach is based on both the use of a properly-chosen sliding surface and the derivation of a disturbance attenuation condition (nonlinear L2-gain). The controller design is then applied to a single-machine-infinite-bus (SMIB) system and some simulation results demonstrate...
This paper presents a new method for symbol estimation in the downlink of a CDMA communication system. Our approach is based on the observation that the slowly-fading CDMA signal model may be expressed as a linear combination of the convolved independent symbol sequences. A blind source separation approach based on maximization of output entropy is used for the blind separation of the sources; the...
In this paper, different techniques for the estimation of the signal parameters and/or the channel coefficients for single-input/multiple-output systems, arc presented. These methods arc based, cither on the use of a small part of observations or on the minimization of a quadratic form with quadratic constraint. Simulations have been established and these techniques arc compared to the classical approaches.
This paper explains a new approach to avoid or to pass through singular states in a Control Moment Gyroscope (CMG) with pyramidal shape. It is well known that a CMG cannot produce torque in the singular direction when it enters in a singular state; therefore, the only option to cross the singularity state is to allow differences between the required and the real torque. The proposed scheme developed...
In this paper, a blind subspace-type single-user array direct-sequence code division multiple access (DS-CDMA) receiver is proposed based on a new joint space-time channel estimation technique for frequency-selective channels. In the proposed approach, the spatio-temporal multipath channel parameters associated with the desired user are jointly estimated with the number of identifiable paths not limited...
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