Academic literature on the topic 'State observer design'

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Journal articles on the topic "State observer design"

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Huh, Kunsoo, and J. L. Stein. "Well-Conditioned Observer Design for Observer-Based Monitoring Systems." Journal of Dynamic Systems, Measurement, and Control 117, no. 4 (1995): 592–99. http://dx.doi.org/10.1115/1.2801119.

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Observer-based monitoring systems for machine diagnostics and control are receiving increased attention. These observer techniques can estimate process and machine variables from inexpensive, easy to install remote sensors based on state-space models of the machine structure between the machine variables of interest and the location of the remote sensors. Unfortunately, these observers can be ill-conditioned and this leads to poor performance. The authors have previously shown that observer performance can be represented by a single performance index, the condition number of the eigensystem of
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YAMADA, Minoru, Li XU, and Osami SAITO. "Design and Parameterization of 2D State Observer." Transactions of the Society of Instrument and Control Engineers 33, no. 8 (1997): 855–57. http://dx.doi.org/10.9746/sicetr1965.33.855.

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Chia-Chi Tsui. "Comparison of two state observer design algorithms." IEEE Transactions on Automatic Control 30, no. 12 (1985): 1238–40. http://dx.doi.org/10.1109/tac.1985.1103867.

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Chou, Fu-I., and Ming-Yang Cheng. "Optimal Observer Design of State Delay Systems." Mathematical Problems in Engineering 2019 (January 31, 2019): 1–8. http://dx.doi.org/10.1155/2019/8493298.

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This paper proposes a new method to design the observer for state delay systems such that (i) state estimation errors converge to zero quickly and (ii), at the same time, a quadratic performance measurement of the deviation of estimates from the actual states is minimized for reducing large error during the transient period of observation. The proposed new approach fuses the merits of both the orthogonal functions approach and evolutionary optimization. One illustrative example is given to verify the effectiveness and efficiency of the proposed new optimization method on performance improvemen
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WANG, ZIDONG, and H. UNBEHAUEN. "Robust state observer design guaranteeing D-stability." International Journal of Systems Science 29, no. 12 (1998): 1417–26. http://dx.doi.org/10.1080/00207729808929626.

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Roppenecker, G. "Modal approach to parametric state observer design." Electronics Letters 22, no. 3 (1986): 118. http://dx.doi.org/10.1049/el:19860083.

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Sauter, D., C. Aubrun, and D. Theilliol. "Adaptive State Observer Design for Fault Diagnosis." IFAC Proceedings Volumes 31, no. 18 (1998): 399–403. http://dx.doi.org/10.1016/s1474-6670(17)42024-6.

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Krasnova, Svetlana A. "Decomposition State Observer Design for Nonlinear Systems." IFAC Proceedings Volumes 34, no. 6 (2001): 941–46. http://dx.doi.org/10.1016/s1474-6670(17)35302-8.

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Misawa, E. A., J. K. Hedrick, J. J. E. Slotine, and G. C. Verghese. "Sliding Observer Design for Nonlinear State Estimation." IFAC Proceedings Volumes 22, no. 3 (1989): 285–90. http://dx.doi.org/10.1016/s1474-6670(17)53649-6.

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Pertew, A. M., H. J. Marquez, and Q. Zhao. "H∞ optimal sampled-data state observer design." IEE Proceedings - Control Theory and Applications 153, no. 4 (2006): 453–61. http://dx.doi.org/10.1049/ip-cta:20050051.

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Dissertations / Theses on the topic "State observer design"

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Yildiz, Ugur. "Multicomponent Batch Distillation Column Simulation And State Observer Design." Master's thesis, METU, 2002. http://etd.lib.metu.edu.tr/upload/12605551/index.pdf.

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In the control of batch and continuous distillation columns, one of the most challenging problem is the difficulty in measuring compositions. This problem can be handled by estimating the compositions from readily available online temperature measurements using a state observer. The aim of this study is to design a state observer that estimates the product composition in a multicomponent batch distillation column (MBDC) from the temperature measurements and to test this observer using a batch column simulation. To achieve this, first a model for MBDC is prepared and compared with the data from
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El-Shafey, Mohamed Hassan. "Linear continuous-time system identification and state observer design by modal analysis." Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/28666.

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A new approach to the identification problem of linear continuous-time time-invariant systems from input-output measurements is presented. Both parametric and nonparametric system models are considered. The new approach is based on the use of continuous-time functions, the modal functions, defined in terms of the system output, the output derivatives and the state variables under the assumption that the order n of the observable system is known a priori. The modal functions are obtained by linear filtering operations of the system output, the output derivatives and the state variables so that
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Ferrante, Francesco. "On quantization and sporadic measurements in control systems : stability, stabilization, and observer design." Thesis, Toulouse, ISAE, 2015. http://www.theses.fr/2015ESAE0020/document.

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Dans cette thèse, nous aborderons deux aspects fondamentaux qui se posent dans les systèmes de commande modernes du fait de l'interaction entre des processus en temps continu et des dispositifs numériques: la synthèse de lois de commande en présence de quantificateurs et l'estimation d'état en présence de mesures sporadiques. Une des caractéristiques principales de cette thèse consiste également à proposer des méthodes constructives pour résoudre les problèmes envisagés. Plus précisément, pour répondre à cette exigence, nous allons nous tourner vers une approche basée sur les inégalités matric
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Lim, Hong Sun. "Design and Control of A Ropeless Elevator with Linear Switched Reluctance Motor Drive Actuation Systems." Diss., Virginia Tech, 2007. http://hdl.handle.net/10919/26541.

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Linear switched reluctance motor (LSRM) drives are investigated and proved as an alternative actuator for vertical linear transportation applications such as a linear elevator. A one-tenth scaled prototype elevator focused on a home elevator with LSRMs is designed and extensive experimental correlation is presented for the first time. The proposed LSRM has twin stators and a set of translator poles without back-iron. The translators are placed between the two stators. The design procedures and features of the LSRM and the prototype elevator are described. The designed LSRM is validated throug
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Castillo, Frasquet Alberto. "Novel Strategies to design Controllers and State Predictors based on Disturbance Observers." Doctoral thesis, Universitat Politècnica de València, 2021. http://hdl.handle.net/10251/165034.

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[ES] Los sistemas de ingeniería o físicos suelen ser inciertos. Su incertidumbre se manifiesta cuando el sistema muestra comportamientos que son relativamente diferentes a los que su modelo predice; estando principalmente causada por: errores de modelado; dinámicas desconocidas; cambios en las propiedades del sistema; interacciones aleatorias con otros sistemas; o cambios en las condiciones de operación. Durante los últimos 40 años, se ha demostrado reiteradamente que las incertidumbres de los sistemas pueden tener efectos muy negativos sobre el comportamiento de un controlador si éstas no
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Rager, David, Rüdiger Neumann, and Hubertus Murrenhoff. "Remote Pressure Control - Considering Pneumatic Tubes in Controller Design." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200510.

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In pneumatic pressure control applications the influence of tubes that connect the valve with the control volume ist mainly neglected. This can lead to stability and robustness issues and limit either control performance or tube length. Modeling and considering tube behavior in controller design procedure allows longer tubes while maintaining the required performance and robustness properties without need for manual tuning. The author\'s previously published Simplified Fluid Transmission Line Model and the proposed model-based controller design enable the specification of a desired pressure tr
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Foulard, Stéphane. "Online and real-time load monitoring for remaining service life prediction of automotive transmissions : damage level estimation of transmission components based on a torque acquisition." Thesis, Ecully, Ecole centrale de Lyon, 2015. http://www.theses.fr/2015ECDL0012.

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Ce travail de recherche propose le développement et la validation d’une méthode de prédiction in-situ et temps réel de la durée de vie utile restante des engrenages de boîtes de vitesses automobiles de série. Cette méthode est destinée à être implantée dans des unités de commande électronique standards. En s’attachant tout particulièrement à proposer une solution simple, fiable, rentable et facilement transposable pour tout type de configuration, le système se base sur la combinaison d’une méthode d’acquisition des couples agissants sur la boîte de vitesses et d’une estimation continue des niv
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Dang, Quoc-Viet. "Conception et commande d'une interface haptique à retour d'effort pour la CAO." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2013. http://tel.archives-ouvertes.fr/tel-00985356.

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Les interfaces haptiques à retour d'effort sont des dispositifs robotiques capables deproduire des forces à destination de l'utilisateur en téléopération et en réalité virtuelle. L'utilisation d'interface à retour d'effort en Conception Assistée par Ordinateur (CAO) offre de nouvelles perspectives pour la création et la conception de formes 3D grâce à une interactivité à la fois visuelle et kinesthésique. Elles permettent à la fois de visualiser, de manipuler en temps réel des objets virtuels et d'en ressentir les efforts (liés aux contacts, à la déformation, etc.).Les travaux présentés dans c
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Bakri, Nizar. "Asservissement par camera d'un pendule inverse." Université Louis Pasteur (Strasbourg) (1971-2008), 1987. http://www.theses.fr/1987STR13222.

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Firdaus, Ahmad Riyad. "Design of sliding mode-based nonlinear control systems with nonlinear full-order state observers for underactuated coupled systems." Thesis, University of Sheffield, 2018. http://etheses.whiterose.ac.uk/20897/.

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Books on the topic "State observer design"

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Cecilia, Andreu. Advances in Nonlinear Observer Design for State and Parameter Estimation in Energy Systems. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-38924-5.

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Polites, Michael E. A new state reconstructor for digital control systems using weighted-averaged measurements. National Aeronautics and Space Administration, Office of Management, Scientific and Technical Information Division, 1989.

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Cecilia, Andreu. Advances in Nonlinear Observer Design for State and Parameter Estimation in Energy Systems. Springer, 2023.

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O'Reilly, J. Feedback control systems design for state-space models (and) Observers for linear systems. 1985.

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Somanathan, T. V., and Gulzar Natarajan. State Capability in India. Oxford University Press, 2022. http://dx.doi.org/10.1093/oso/9780192856616.001.0001.

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This book seeks to assess state capability in India, identify weaknesses and their causes, and then propose measures to remedy them while recognizing political economy constraints. It examines the capability of public systems to design effective policies and implement them, with particular emphasis on India. Its focus is predominantly on the administrative contributors to state capability deficiencies. It straddles the fine line between analytical research scholarship and an ethnographic account of actors, processes, and institutions within different levels of government. Being participants an
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Espinoza-Fraire, Arturo Tadeo, Ricardo Pavel Parada Morado, Jose Armando Saenz Esqueda, and Alejandro Enrique Dzul López. Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches. Elsevier, 2023.

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Espinoza-Fraire, Arturo Tadeo, Ricardo Pavel Parada Morado, Jose Armando Saenz Esqueda, and Alejandro Enrique Dz Lopez. Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches. Elsevier, 2023.

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Higgins, Kathleen. Comparative Aesthetics. Edited by Jerrold Levinson. Oxford University Press, 2009. http://dx.doi.org/10.1093/oxfordhb/9780199279456.003.0040.

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One of the first questions that arises in efforts to conduct comparative aesthetics is whether or not the terms ‘art’ and ‘aesthetics’ are inextricably bound to certain cultures and their presuppositions. Since the Enlightenment, the dominant Western conception of ‘fine’ art is distinguished from that of ‘crafts’ used in everyday life. A work of art is understood to be designed primarily for contemplation; if it serves any other practical function, this is considered to be secondary. Theorists disagree on the criteria for judging the work of art, but typically these are linked to a state of mi
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Fuchsel, Catherine. Development of the SYP Curriculum. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190672829.003.0002.

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This chapter provides an overview of how the Sí, Yo Puedo (SYP) curriculum and program was developed from a qualitative pilot study that examined the meaning of marriage, relationships, and domestic violence among a small group of immigrant Latina women between 2004 and 2007. A prevention model was developed from the original pilot study that essentially became the SYP 11-week, group format, culturally specific curriculum and program. Over a five-year period, evaluation of the SYP curriculum and program in group settings was conducted with different community-based agencies in two Midwestern s
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Ker-Lindsay, James. The Cyprus Problem. Oxford University Press, 2011. http://dx.doi.org/10.1093/wentk/9780199757169.001.0001.

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For nearly 60 years--from its uprising against British rule in the 1950s, to the bloody civil war between Greek and Turkish Cypriots in the 1960s, the Turkish invasion of Cyprus in the 1970s, and the United Nation's ongoing 30-year effort to reunite the island--the tiny Mediterranean nation of Cyprus has taken a disproportionate share of the international spotlight. And while it has been often in the news, accurate and impartial information on the conflict has been nearly impossible to obtain. In The Cyprus Problem, James Ker-Lindsay offers an incisive, even-handed account of the conflict. Ker
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Book chapters on the topic "State observer design"

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Bernard, Pauline. "State-Affine Normal Forms." In Observer Design for Nonlinear Systems. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-11146-5_3.

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Bernard, Pauline. "Transformations into State-Affine Normal Forms." In Observer Design for Nonlinear Systems. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-11146-5_6.

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Shao, Yiyuan. "A State Observer Design for Dual Lipschitz Nonlinear System." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-15235-2_111.

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Tanwani, Aneel, Hyungbo Shim, and Daniel Liberzon. "Observer Design for Switched Linear Systems with State Jumps." In Hybrid Dynamical Systems. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-10795-0_7.

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Yang, Junqi, Lizhi Cui, Yantao Chen, Zihan Gao, and Wei Qian. "Improved Multiple-State Observer Design for Boolean Control Networks." In Positive Systems. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-04327-8_22.

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Liu, Yang, Zidong Wang, and Donghua Zhou. "Observer Design for Systems with Unknown Inputs and Missing Measurements." In State Estimation and Fault Diagnosis under Imperfect Measurements. CRC Press, 2022. http://dx.doi.org/10.1201/9781003309482-5.

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Hametner, Christoph, and Stefan Jakubek. "Data-Driven Methodologies for Battery State-of-Charge Observer Design." In Automotive Battery Technology. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-02523-0_7.

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Randhawa, Princy, and Tushar Pradeep Basakhatre. "Design of Pitch Attitude Hold Mode for Commercial Aircraft Using Extended State Observer." In Algorithms for Intelligent Systems. Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-6707-0_26.

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El Aoumari, Abdelaziz, and Hamid Ouadi. "High Gain Observer Design for PEM Fuel Cell State Estimation in Electric Vehicles." In International Conference on Advanced Intelligent Systems for Sustainable Development. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-35245-4_29.

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Das, Piyali, Ram Krishna Mehta, and Om Prakash Roy. "Extended State Observer-Based Controller Design Application in a Two-Link Robotic Manipulator." In Advances in Smart Energy Systems. Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-2412-5_6.

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Conference papers on the topic "State observer design"

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Hu, Weiwei, and Michael A. Demetriou. "Adaptive Observer Design for a Multi-State Reparable System." In 2024 American Control Conference (ACC). IEEE, 2024. http://dx.doi.org/10.23919/acc60939.2024.10644610.

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He, Shengheng. "State/parameter Observer Design for a Single-rod Electrohydraulic Manipulator." In 2024 China Automation Congress (CAC). IEEE, 2024. https://doi.org/10.1109/cac63892.2024.10864863.

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Khemiri, Wissal, and Ali Sghaier Tlili. "Interval Cascade State Observer Design Method for Linear Delayed Systems." In 2025 IEEE 22nd International Multi-Conference on Systems, Signals & Devices (SSD). IEEE, 2025. https://doi.org/10.1109/ssd64182.2025.10989814.

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Xingling, Shao, and Wang Honglun. "Novel Augmented Extended State Observer Design." In 2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC). IEEE, 2015. http://dx.doi.org/10.1109/ihmsc.2015.19.

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Rafaralahy, H. "State observer design for descriptor bilinear systems." In UKACC International Conference on Control. Control '96. IEE, 1996. http://dx.doi.org/10.1049/cp:19960662.

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Filasova, Anna, and Dusan Krokavec. "Design of observer-based state feedback control." In 2018 19th International Carpathian Control Conference (ICCC). IEEE, 2018. http://dx.doi.org/10.1109/carpathiancc.2018.8399676.

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Hamdi, S. E., M. Amairi, M. Aoun, and M. N. Abdelkrim. "Interval state observer design for fractional systems." In 2013 10th International Multi-Conference on Systems, Signals & Devices (SSD). IEEE, 2013. http://dx.doi.org/10.1109/ssd.2013.6564115.

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Lima, Danilo R., Rosane Ushirobira, and Denis Efimov. "State observer design for bilinear Persidskii systems." In 2024 European Control Conference (ECC). IEEE, 2024. http://dx.doi.org/10.23919/ecc64448.2024.10590855.

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RoyChoudhury, Joydeb, Tribeni Prasad Banerjee, Aniket Nathvani, Rangeen Basu Roy Chowdhury, and A. K. Bhattacharya. "Design methodology internal sub state observer using CPLD." In 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC). IEEE, 2009. http://dx.doi.org/10.1109/nabic.2009.5393634.

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Olikal, Varghese, Srivijay Phadke, and Sanjay Talole. "Extended State Observer-Based Height Control System Design." In AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics, 2010. http://dx.doi.org/10.2514/6.2010-8322.

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Reports on the topic "State observer design"

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Pruet, J., and C. Hagmann. Initial Design Calculations for a Detection System that will Observe Resonant Excitation of the 680 keV state in 238U. Office of Scientific and Technical Information (OSTI), 2007. http://dx.doi.org/10.2172/902615.

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Mangalathu, Sujith, Mehrdad Shokrabadi, and Henry Burton. Aftershock Seismic Vulnerability and Time-Dependent Risk Assessment of Bridges. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2019. http://dx.doi.org/10.55461/uuue2614.

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The time-dependent seismic risk of bridges is assessed while account accounting for the effect of aftershocks and the uncertainty in the damage state after a mainshock event. To achieve this, a Markov risk-assessment framework is adopted to account for the probabilistic transition of the bridge structure through different damage states and time-dependent aftershock hazard. The methodology is applied to three typical California bridge configurations that differ only based on their era of design and construction. Era 11, Era 22, and Era 33 designations are used for the three bridges, which are d
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Christine, Lozano, and Riveros Guillermo. Classical and innovative methods of fatigue and fracture repairs in navigation steel structures. Engineer Research and Development Center (U.S.), 2021. http://dx.doi.org/10.21079/11681/40422.

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Most of the hydraulic steel structures (HSS) in the U.S. have reached or have past their design life, which leads to unsatisfactory performance. Welded connections with low fatigue resistance, poor weld quality, unanticipated structural behavior, or unexpected loading due to the deterioration of the design boundary conditions are the causes of fatigue cracking. The purpose of this report is to identify and evaluate the traditional and new methods used for fatigue and fracture repairs in navigation steel structures to restore their load carrying capacity and fatigue and fracture resistance. The
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Guan, Xin, Richard Lance, and Sheena Feist. Environmental DNA (eDNA) assays for the detection of Ridgway’s Rail (Rallus obsoletus) in the United States. Engineer Research and Development Center (U.S.), 2024. http://dx.doi.org/10.21079/11681/48757.

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We designed two novel environmental DNA (eDNA) assays for the detection of Ridgway’s Rail (Rallus obsoletus), and successfully validated each assay using eDNA samples collected from the species’ known distribution within the United States. These assays add to the suite of tools available for the monitoring of this rare and secretive marsh bird, and may help to further elucidate its movement patterns as well as identify important migration corridors. Observed sensitivity of the assays indicates exceptional performance, with limits of detection at ≤ 8 copies of the target eDNA fragment per react
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Alexander and Kiefner. L51554 Field Observations on the Two-Phase Hovenweep CO2 Gathering System During Summer Operation. Pipeline Research Council International, Inc. (PRCI), 1988. http://dx.doi.org/10.55274/r0010290.

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While laboratory-scale studies of single-phase flow have resulted in good correlations for the design of large-diameter pipeline systems, similar approaches for two-phase flow have not been as useful. Although theoretical modeling and simulation of single-phase turbulent flow has not yet been accomplished, empirical observation of many small-scale examples has lead to effective correlations through dimensional analysis. These correlations for a single-phase often do scale-up adequately for design of pipelines. However, when an additional phase is present, this approach has not worked well. It
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DeSantis, John, and Jeffery Roesler. Longitudinal Cracking Investigation on I-72 Experimental Unbonded Concrete Overlay. Illinois Center for Transportation, 2022. http://dx.doi.org/10.36501/0197-9191/22-002.

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A research study investigated longitudinal cracking developing along an experimental unbonded concrete overlay (UBOL) on I-72 near Riverton, Illinois. The project evaluated existing literature on UBOL (design, construction, and performance), UBOL case studies, and mechanistic-empirical design procedures for defining the mechanisms that are contributing to the observed distresses. Detailed distress surveys and coring were conducted to assess the extent of the longitudinal cracking and faulting along the longitudinal lane-shoulder joint. Coring over the transverse contraction joints in the drivi
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Chauvin, Juan Pablo, Rafael Rubião, and Miguel Ángel Talamas Marcos. The Undercounting of Child-Mother Births. Inter-American Development Bank, 2025. https://doi.org/10.18235/0013407.

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Accurate demographic data are essential for effective policy design, yet private costs may deter individuals from truthfully reporting sensitive information. We examine this market failure and its implications in the context of child motherhood. Using administrative records from Brazil, Mexico, and the United States, along with census data from 59 countries, we identify systematic patterns of under-reporting, indicating that child motherhood is significantly more prevalent than previously thought. Births to mothers aged 10-14 are often missing from contemporary administrative records but appea
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Shah, Ayesha, Jan Olek, and Rebecca S. McDaniel. Real Life Experience with Major Pavement Types. Purdue University, 2022. http://dx.doi.org/10.5703/1288284317371.

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Pavement performance is a complex issue which depends on many contributing factors. Examining the performance of real-life pavements across the state determines what the actual service lives are for the pavements. For the purposes of this study, only selected LTPP projects were examined, along with a database containing all the historic repair projects completed in Indiana. Pertinent information present in the Indiana Historic Contracts Database was extracted concerning the types of pavement repair and treatments options commonly employed within the state, the time between repairs, etc. These
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Huang, Tao, and Venkatesh Merwade. Developing Customized NRCS Unit Hydrographs (Finley UHs) for Ungauged Watersheds in Indiana. Purdue University, 2023. http://dx.doi.org/10.5703/1288284317644.

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The Natural Resources Conservation Service (NRCS, formerly the Soil Conservation Service, SCS) unit hydrograph (UH) is one of the most commonly used synthetic UH methods for hydrologic modeling and engineering design all over the world. However, previous studies have shown that the application of the NRCS UH method for some ungauged watersheds in the state of Indiana produced unrealistic flood predictions for both the peak discharge and the time to peak. The objective of this work is to customize the NRCS UH by analyzing the role of its two key parameters, namely, the peak rate factor (PRF) an
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Hair. L52003 Application of the Crack Layer Theory for Understanding and Modeling of SCC in High Pressure. Pipeline Research Council International, Inc. (PRCI), 2003. http://dx.doi.org/10.55274/r0010893.

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Abstract:
A stochastic features of SCC colony, such as corrosion pit distribution, SC crack initiation from the pits and SC crack aspect ratio, SC crack cluster formation, SC cluster interaction and instability, are observed and characterized. A concept of a single crack equivalent to a cluster of cracks is introduced to simplify computational work on clusters evolution and instability. Various criteria of equivalence for different stages of clusters evolution are discussed. An accelerated test with a number of accelerating factors has been designed and performed for simulation of individual SC crack gr
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