A state observer for using a slow camera as a sensor for fast control applications

Reinhard Gahleitner, Martin Schagerl

Research output: Chapter in Book/Report/Conference proceedingsConference contribution

1 Citation (Scopus)


This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.
Original languageEnglish
Title of host publicationProceedings of SPIE-IS and T Electronic Imaging - Image Processing
Subtitle of host publicationMachine Vision Applications VI
Number of pages10
Publication statusPublished - 2013
EventElectronic Imaging 2013 - San Francisco, United States
Duration: 3 Feb 20137 Feb 2013

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


ConferenceElectronic Imaging 2013
Country/TerritoryUnited States
CitySan Francisco
Internet address


  • Vision based control
  • real-time image processing
  • multirate state observer
  • inverted pendulum
  • Inverted pendulum
  • Real-time image processing
  • Multirate state observer


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