CONTROL WITH ON/OFF SENSORS AND ACTUATORS: AN ELLIPSOID OBSERVER PLUS SLIDING-MODE CONTROL APPROACH

Control with binary sensors and actuators is an appealing possibility for low-cost automation setups in mechatronic systems. In this paper, a set-valued observer is designed to allow state estimation on a plant with sensors whose output is an interval, i.e., the actual plant output is assumed to lie inside it. The observer uses ellipsoidal approximations of the estimated state set. Then, sliding control is used to close the loop using a three-position actuator. A mechanical system simulation illustrates the possibilities of the approach.