# US 12,111,647 B2 · Method and apparatus for estimating disturbance of control system based on input/output data

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- Number: US 12,111,647 B2
- Document ID: US12111647B2
- Status: Granted
- Kind: B2
- Application number: 17/553,951
- Filed: 2021-12-17
- Published: 2023-01-26
- Granted: 2024-10-08
- Earliest claimed: 2021-07-22
- Assignees: Daegu Gyeongbuk Institute of Science and Technology
- Applicants: Daegu Gyeongbuk Institute of Science and Technology
- Inventors: Yongsoon Eun; Juseung Lee; Jaeho Lee
- Web page: https://patentgrep.com/patent/US12111647B2

## CPC

- G05B 21/02: electric
- G05B 23/024: {Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks}
- G06F 17/16: Matrix or vector computation {, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization (matrix transposition G06F7/78)}
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

Disclosed is an apparatus for estimating disturbance flowing into a control system on the basis of input/output data. The apparatus includes an input unit, and an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on a system model matrix corresponding to an input/output relation model of the control system. Accordingly, efficiency of the apparatus may be improved.

## Claims

### Claim 1

A method of estimating disturbance flowing into a control system, based on input/output data; the method comprising:
generating a system model matrix corresponding to an input/output relation model of the control system;
inputting input data (u) into the control system and acquiring output data;
estimating the input data (u) from the acquired output data, based on the system model matrix; and
estimating a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
wherein the estimating of the input data (u) comprises estimating the input data (u), based on [Equation 1] of
[
Y
p
U
p
Y
f
]
⁢
g
=
[
y
ini
u
ini
y
]
and [Equation 2] of Uf·g=û, and
wherein g denotes a variable derived by [Equation 1], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and ûdenotes estimated input data.

### Claim 2 (depends on 1)

The method of claim 1, wherein the estimating of the disturbance signal comprises estimating the disturbance signal by comparing the estimated input data (û) and initial input data (uc) that is not influenced by disturbance.

### Claim 3 (depends on 2)

The method of claim 2, further comprising, after the estimating of the disturbance signal, reflecting subtraction of the estimated disturbance signal in next input data to be applied in the control system.

### Claim 4

An apparatus for estimating disturbance flowing into a control system, based on input/output data, the apparatus comprising:
a generator configured to generate a system model matrix corresponding to an input/output relation model of the control system;
an input unit; and
an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (u) from the acquired output data, based on the system model matrix,
wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
wherein the estimator is configured to estimate the input data (u), based on [Equation 3] of
[
Y
p
U
p
Y
f
]
⁢
g
=
[
y
ini
u
ini
y
]
and [Equation 4] of Uf·g=û, and
wherein g denotes a variable derived by [Equation 3], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.

### Claim 5 (depends on 4)

The apparatus of claim 4, wherein the estimator is configured to estimate the disturbance signal by comparing the estimated input data (û) and initial input data (uc) that is not influenced by disturbance.

### Claim 6

An apparatus for compensating for disturbance flowing into a control system, based on input/output data, the apparatus comprising:
a generator configured to generate the system model matrix corresponding to an input/output relation model of the control system;
an input unit;
an estimator configured to, when input data (u) is provided to the control system through the input unit and thus output data is acquired, estimate the input data (a) from the acquired output data, based on the system model matrix corresponding to an input/output relation model of the control system; and
at least one processor,
wherein the estimator is configured to estimate a disturbance signal flowing into the control system, based on the estimated input data (û), without application of a low pass filter,
wherein the processor is configured to control the input unit to reflect subtraction of the estimated disturbance signal in next input data of the control system,
wherein the system model matrix includes two reference sampling matrixes (Up, Uf) obtained by dividing a series of input sampling data input into the control system according to a number of data, and two reference sampling matrixes (Yp, Yf) obtained by dividing a series of output sampling data output from the control system according to a number of data in accordance with the series of input sampling data,
wherein the estimator is configured to estimate the input data (u), based on [Equation 5] of
[
Y
p
U
p
Y
f
]
⁢
g
=
[
y
ini
u
ini
y
]
and [Equation 6] of Uf·g=û, and
wherein g denotes a predetermined variable and is derived by [Equation 5], uini denotes an additional input data matrix, yini denotes an additional output data matrix, y denotes acquired output data, and û denotes estimated input data.

### Claim 7 (depends on 6)

The apparatus of claim 6, further comprising a mode switch configured to change a first mode in which a disturbance signal is estimated and a second mode in which the estimated signal is compensated for,
wherein the processor is configured to control the mode switch to operate in the second mode when the disturbance signal is generated in the first mode.

### Claim 8 (depends on 6)

The apparatus of claim 6, wherein the estimator is configured to estimate the disturbance signal by comparing the estimated input data (û) and initial input data (uc) that is not influenced by disturbance.