The contribution of this brief is to propose a method based on a simple nonlinear observer with an easy-to-compute observer gain, in order to achieve both state and unknown input (UI) estimation. Since the structure of the original model of the process does not require any transformation, the nonlinear dynamics are preserved. This allows an accurate estimation of the states and the UIs or faults. Two particular cases involving dc motors are illustrated in simulation and an experiment using a permanent magnet dc motor is presented.

中文翻译：

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用于状态和未知输入估计的简单非线性观测器：直流电机应用

本简介的贡献是提出一种基于具有易于计算的观察器增益的简单非线性观察器的方法，以实现状态和未知输入 (UI) 估计。由于过程原始模型的结构不需要任何转换，因此保留了非线性动力学。这允许准确估计状态和 UI 或故障。在模拟中说明了两个涉及直流电机的特殊情况，并介绍了使用永磁直流电机的实验。