论文标题

具有已知和未知输入的非线性可观察性算法:分析和实施

Nonlinear observability algorithms with known and unknown inputs: analysis and implementation

论文作者

Martínez, Nerea, Villaverde, Alejandro F.

论文摘要

动态系统的可观察性受外部输入的存在(例如控制动作)或未知(干扰)的影响。未知幅度的输入对可观察性特别有害,它们也使其分析复杂化。因此,能够分析具有未知输入的非线性系统的可观察性的计算工具的可用性一直受到限制。最近已经提出了两种基于差异几何形状的符号算法ORC-DF和FISPO,但仍缺乏它们的批判性分析和比较。在这里,我们对这两种算法进行分析比较,并在一组问题上评估它们的性能,并讨论其优势和局限性。此外,我们使用这些分析来提供有关输入与可观察性之间关系某些方面的见解。我们发现,尽管ORC-DF和FISPO遵循类似的方法,但它们在关键方面有所不同,这些方面可能会对其适用性和计算成本产生重大影响。 FISPO算法更普遍适用,因为它可以分析任何非线性ode模型。 ORC-DF算法分析了输入中仿射的模型,如果这些模型已知输入,则有时更有效。因此,方法的最佳选择取决于所考虑的问题的特征。为了促进两种算法的使用,我们在新版本的Strike-goldd(用于结构性可识别性和可观察性分析的MATLAB工具箱)中实现了ORC-DF算法。由于该软件工具已经实现了FISPO算法,因此新版本允许模板和对用户建模单个工具中不同算法之间选择的便利性,而无需更改模型的编码。

The observability of a dynamical system is affected by the presence of external inputs, either known (such as control actions) or unknown (disturbances). Inputs of unknown magnitude are especially detrimental for observability, and they also complicate its analysis. Hence the availability of computational tools capable of analysing the observability of nonlinear systems with unknown inputs has been limited until lately. Two symbolic algorithms based on differential geometry, ORC-DF and FISPO, have been recently proposed for this task, but their critical analysis and comparison is still lacking. Here we perform an analytical comparison of both algorithms and evaluate their performance on a set of problems, discussing their strengths and limitations. Additionally, we use these analyses to provide insights about certain aspects of the relationship between inputs and observability. We find that, while ORC-DF and FISPO follow a similar approach, they differ in key aspects that can have a substantial influence on their applicability and computational cost. The FISPO algorithm is more generally applicable, since it can analyse any nonlinear ODE model. The ORC-DF algorithm analyses models that are affine in the inputs, and if those models have known inputs it is sometimes more efficient. Thus, the optimal choice of a method depends on the characteristics of the problem under consideration. To facilitate the use of both algorithms we implement the ORC-DF algorithm in a new version of STRIKE-GOLDD, a MATLAB toolbox for structural identifiability and observability analysis. Since this software tool already had an implementation of the FISPO algorithm, the new release allows modellers and model users the convenience of choosing between different algorithms in a single tool, without changing the coding of their model.

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