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2023-05-28 - 00:36

Dates and Events:

OSADL Articles:

2023-03-01 12:00

Embedded Linux distributions

Results of the online "wish list"

2022-01-13 12:00

Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed

Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached

2021-02-09 12:00

Open Source OPC UA PubSub over TSN project phase #3 launched

Letter of Intent with call for participation is now available

2016-11-12 12:00

Raspberry Pi and real-time Linux

Let's have a look at the OSADL QA Farm data

Real Time Linux Workshops

1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010

Ninth Real-Time Linux Workshop on November 2 to 4, 2007, in Linz, Austria

High-gain observers and Kalman filtering in hard real-time

Nicolas Boizot (1,2), Eric Busvelle (2), Juergen Sachau(1)

In the framework of our research on high-gain observers for nonlinear systems we have reached the final step of the development of our solution, which consists of real-time implementation in Linux. The results presented in this paper were obtained using RTAI-lab and the Scilab/Scicos CACSD environment on a series-connected DC motor. We introduce the three observers we implemented as 1) the classic high-gain Luenberger, 2) the high-gain extended Kalman filter, and 3) our newly proposed adaptive-gain extended Kalman filter (AEKF). Finally we close the control loop with a classic control scheme for DC motors in order to give a complete view of the performance.


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