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Estimation of the mechanical state variables of two-mass system using adaptive Kalman filter

In the paper issues related to the application of the adaptive Kalman filter to estimation of the states and parameters of an drive system with an elastic joint are presented. After a short introduction the mathematical model of the drive and used control structure are described. Next the model of the classical and adaptive nonlinear Kalman filter are presented. The performance of the investigated method is tested under a variety of simulation and experimental tests.