Real-Time Optimal State Estimation of Multi-DOF Industrial Systems Using FIR Filtering

Shunyi Zhao, Yuriy S. Shmaliy, Choon Ki Ahn, Peng Shi

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


Industrial processes are often organized using mechanical systems with multiple degrees-of-freedom (DOF). For real-time operation of such systems in noise environments, fast, optimal, and robust estimators are required. In this paper, information gathering about multi-DOF system states is provided using the optimal finite impulse response (OFIR) filter. To use this filter in real time, a fast iterative algorithm is developed with a pseudocode available for immediate use. Although the iterative algorithm utilizes Kalman recursions, it is more robust against uncertainties and model errors owing to the transversal structure. We use this algorithm to estimate state in the 1-DOF torsion system and the 3-DOF helicopter system.

Original languageEnglish
Article number7546834
Pages (from-to)967-975
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number3
Publication statusPublished - 2017 Jun

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grants 61603155, 61573112 and U1509217, in part by the Australian Research Council under Grant DP140102180 and Grant LP140100471, in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF-2014R1A1A1006101), and in part by the 111 Project (B12018)

Publisher Copyright:
© 2016 IEEE.


  • Automation process
  • Kalman filter (KF)
  • finite impulse response (FIR) filter
  • iterative algorithm
  • state estimation
  • time-variant system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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