Probing signal injection is a well-established technique to extract additional information from a weakly (or non) observable dynamical system. Using averaging theory, a framework to analyse such schemes for general nonlinear systems has been recently proposed in Combes et. al., [9], where it is shown that the signal injection may be used to generate a new high frequency component of the systems output that can be used for state observation or controller design. A key step for the success of this technique is the implementation of a filter to reconstruct this virtual output from the measurement of the overall systems output. The main contribution of this paper is to propose a new filter with guaranteed convergence properties that outperforms the classical designs. The method is applied to a general class of electromechanical systems, and its performance is assessed via simulations and experiments on the benchmark example of a 1-dof magnetic levitation system.

探测信号注入是一种完善的技术，可以从弱（或非）可观察的动态系统中提取其他信息。使用平均理论，最近在Combes等人中提出了一个框架来分析一般非线性系统的此类方案。等人，[9]，其中表明信号注入可用于生成系统输出的新高频分量，该信号可用于状态观察或控制器设计。这项技术成功的关键步骤是实施一个滤波器，以根据整个系统输出的测量结果来重建虚拟输出。本文的主要贡献是提出了一种具有保证收敛性能的新型滤波器，该滤波器优于经典设计。该方法适用于一般类别的机电系统，