Observer Design Based on Steady State and Reduced Model Information with Application to Running Gears with Independently Rotating Driven Wheels

Kurzfassung

Observer design typically demands a comprehensive understanding of the systems model, necessitating meticulous parameter tuning for each state. In this paper, we introduce an observer design tailored to a class of linear systems, mitigating the need for extensive tuning and intricate model knowl- edge. Our proposed observer integrates steady-state behavior estimation with a dynamic state-based es- timation, effectively streamlining the design process. To illustrate its effectiveness, we apply this observer design to the control of running gears with inde- pendently rotating and driven wheels within the re- search project Next Generation Train. This approach demonstrates a significant reduction in the requisite tuning parameters and model intricacy, offering a more practical and efficient solution for control sys- tems.