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

26 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


  • 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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