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OffsetFreeMethod ​

Disturbance model of the offset-free observer (LinearMPC.jl set_offset_free_observer!): None selects a plain steady-state Kalman filter; StateDisturbance and Velocity are fixed-gain realizations (Pannocchia 2015) whose disturbance estimate absorbs the whole innovation each step; OutputDisturbance (a constant bias on every output) and InputDisturbance (a constant load on every input, Bd = B) design a Kalman filter on the augmented model, so the disturbance entries of R1 set how fast the disturbance is estimated (the effective integral gain)

Cases ​

  • None

  • StateDisturbance

  • Velocity

  • OutputDisturbance

  • InputDisturbance

Source ​

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"Disturbance model of the offset-free observer (LinearMPC.jl set_offset_free_observer!): None selects a plain steady-state Kalman filter; StateDisturbance and Velocity are fixed-gain realizations (Pannocchia 2015) whose disturbance estimate absorbs the whole innovation each step; OutputDisturbance (a constant bias on every output) and InputDisturbance (a constant load on every input, Bd = B) design a Kalman filter on the augmented model, so the disturbance entries of R1 set how fast the disturbance is estimated (the effective integral gain)"
enum OffsetFreeMethod =
  | None
  | StateDisturbance
  | Velocity
  | OutputDisturbance
  | InputDisturbance

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