The Department of Control and Systems Engineering gives the Master for Performance Comparison  

The student (Abdullah Ali Mohammed) from the Department of Engineering Control and Systems at the University of Technology has been given the master's of degree with a very good grade for his thesis  ( Comparing the performance of four different notes ) .The discussion committee consisted of Dr. Shibli Ahmed Humaid as Chairman and Dr. Safana Rahat and Dr. Sami Kazem Hassan and Dr. Amjad Jalil Hamidi  Supervisor ) .

Abstract: -

The aim of the work is to study the robust characteristic and performance of four different observers when applied to estimate the states of two underactuated mechanical systems (Rotary Inverted Pendulum and  Pendubot). This work has invoked four observation techniques for state estimation which are nonlinear extended state observer (NESO), Linear Extended State Observer (LESO), High gain observer (HGO) and Extended State Observer (ESO). Four conditions have been considered to assess the performance of observers; nominal condition, disturbance application condition, noise injection condition and uncertainty perturbation condition.Based on these conditions, the performance of observers are evaluated and quantified in terms of their tracking characteristics and the minimum variance of estimation error they produce.