Robust control and state estimation in multiphysics transducer with dual sensor-actuator use

This research delves into advancements in electro-magneto-mechanical systems, emphasizing the dual functionality of the system as both a sensor and an actuator while addressing nonlinearity with feedback linearization. To enhance robustness and controllability, we employed a straightforward nonlinear high-gain observer, which avoids noise amplification by steering clear of differentiating the position signal’s derivative. Instead, a nonlinear observer was used to ensure that all state variables are accessible for optimal control. The observer’s linear gain was meticulously adjusted to balance noise rejection with performance. A control linear quadratic regulator (LQR) approach was implemented to stabilize the system using full-state feedback from the nonlinear high-gain observer. Additionally, a DC–DC converter was integrated to guarantee an effective operation under various conditions. The system demonstrated precise tracking of reference positions and sinusoidal trajectories, with the observer’s state estimates closely matching the actual measured states, despite limited parameter measurements. It successfully rejected step disturbances, maintaining accurate position tracking. Although minor performance deviations were observed with sinusoidal disturbances, the system remained robust in rejecting these disturbances, keeping errors minimal.