Simultaneous State and Parameter Estimation using Receding-horizon Nonlinear Kalman Filter

Abstract

Online estimation of internal states and parameters is often required for process monitoring, control and fault diagnosis. The conventional approach to estimate drifting parameters is to artificially model them as a random walk process and estimate them simultaneously with the states. However, tuning of the random walk model is not a trivial exercise. Recently, Valluru et al. (2017) have developed a moving window based state and parameter estimator which assumes that the parameters change slowly and remain constant within the window. Also, in another development, a moving window based recursive filter, receding horizon nonlinear Kalman (RNK) filter has been proposed by Rengaswamy et al. (2013). In this work, a novel simultaneous state and parameter estimator is proposed by combining the window based parameter variation model with RNK filter formulation. The performance of the RNK based estimator is demonstrated by conducting simulation studies on the benchmark quadruple tank system and a CSTR system. The efficacy of RNK based estimator is compared with that of the conventional simultaneous EKF approach and Moving Horizon Estimator (MHE) based state and parameter approach. Analysis of the simulation results reveals that the proposed state and parameter estimation scheme is able to generate better estimation performance than that of the simultaneous EKF and closer to that of the MHE based parameter estimator with less computational efforts.