5 papers
Effect of Dispatch Decisions on Small-Signal Stability of Converter-Dominated Power Systems
Maitraya Avadhut Desai, Ognjen Stanojev, Simon Muntwiler +1
Small-signal stability of modern converter-dominated power systems has been the subject of extensive research, particularly from the perspective of device-level control design for…
MHE under parametric uncertainty -- Robust state estimation without informative data
Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger
In this paper, we study joint state and parameter estimation for general nonlinear systems with uncertain parameters and persistent process and measurement noise. In particular, we…
Nonlinear Functional Estimation: Functional Detectability and Full Information Estimation
Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger
We consider the design of functional estimators, i.e., approaches to compute an estimate of a nonlinear function of the state of a general nonlinear dynamical system subject to pro…
Optimization-Based System Identification and Moving Horizon Estimation Using Low-Cost Sensors for a Miniature Car-Like Robot
Sabrina Bodmer, Lukas Vogel, Simon Muntwiler +5
This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The ov…
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…