Real-time pinch detection algorithm: Robust to impulsive noise

Jung Hoon Park, Won Sang Ra, Jin Bae Park, Tae Sung Yoon

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


A robust pinch detection algorithm which can be implemented in a cheap microprocessor is proposed for the development of a safety feature in the automotive power window system. To solve the problems caused by the performance degradation of a Hall sensor or real driving situations, the proposed algorithm makes use of the H∞ state estimation technique. The motivation of this approach comes from the advantage that the H∞ filter can minimize or bound the worst-case estimation error energy for all bounded energy disturbances. Herein, the pinch torque rate estimator is derived from applying the steady-state H∞ filter to the augmented model, which includes the motor dynamics and an additional torque rate state. Then, to redesign an appropriate estimator for real-time implementation, the torque rate estimate can be calculated more efficiently than the previous method [1]. Experimental results verify that, with a small amount of computation, the proposed pinch detection algorithm provides fast pinch detection performance superior to the existing method. Furthermore, it guarantees robustness against the worst-case measurement noises.

Original languageEnglish
Pages (from-to)185-192
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Issue number2
Publication statusPublished - 2009 Apr

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


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