On Recursive Calculation of M- and GM-Estimates by Direct Identification in LQG Control Systems

Article type: Research Article

Authors: Atanasov, Nasko | Pupeikis, Rimantas

Affiliations: Technical University, Studentska 1, 9010 Varna, Bulgaria, e-mail: [email protected] | Institute of Mathematics and Informatics, Akademijos 4, LT-08663 Vilnius, Lithuania, e-mail: [email protected]

Abstract: In the previous papers (Pupeikis, 2000; Genov et al., 2006), a direct approach for estimating the parameters of a discrete-time linear time-invariant (LTI) dynamic system, acting in a closed-loop in the case of additive correlated noise with contaminating outliers uniformly spread in it, is presented. It is assumed here that the parameters of the LQG (Linear Quadratic Gaussian Control) controller are known beforehand. The aim of the given paper is development of a parametric identification approach for a closed-loop system when the parameters of an LTI system as well as that of LQG controller are not known and ought to be estimated. The recursive techniques based on an the M- and GM- estimator algorithms are applied here in the calculation of the system as well as noise filter parameters. Afterwards, the recursive parameter estimates are used in each current iteration to determine unknown parameters of the LQG-controller, too. The results of numerical simulation by computer are discussed.

Keywords: LQG control systems, closed-loop, parametric identification, observations, outliers

Journal: Informatica, vol. 20, no. 1, pp. 3-22, 2009