Stable Force Reconstruction from Acceleration Measurements - Theory and Experiment

Roland Falkensteiner, Richard Seeber, Martin Horn, Robert Tafner

Research output: Contribution to journalConference articlepeer-review


This paper presents an unknown input observer for the estimation of external forces acting on mechanical systems from only acceleration measurements. To circumvent arising stability issues, a classical unknown input observer extended with an additional filter is proposed. The influence of the design parameter of the filter is analyzed. A guideline for the parameter tuning depending on predefined estimation goals is given. In contrast to existing methods, no prior knowledge about the unknown acting force is assumed in the design process. The performance of the presented concept is compared to a state-of-the-art approach in both simulation studies and on a experimental test setup.
Original languageEnglish
Pages (from-to)4189-4195
Issue number2
Publication statusPublished - 2020
Event21st IFAC World Congress - Virtuell, Germany
Duration: 12 Jul 202017 Jul 2020


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