Modified robust finite-horizon filter for discrete-time systems with parameter uncertainties and missing measurements

A robust finite-horizon Kalman filter is designed for linear discrete-time systems subject to norm-bounded uncertainties in the modeling parameters and missing measurements.The missing measurements were described by a binary switching sequence satisfying a conditional probability distribution,the commonest cases in engineering,such that the expectation of the measurements could be utilized during the iteration process.To consider the uncertainties in the system model,an upperbound for the estimation error covariance was obtained since its real value was unaccessible.Our filter scheme is on the basis of minimizing the obtained upper bound where we refer to the deduction of a classic Kalman filter thus calculation of the derivatives are avoided.Simulations are presented to illustrate the effectiveness of the proposed approach.

Roadway failure and support in a coal seam underlying a previously mined coal seam

The influence of an upper,mined coal seam on the stability of rock surrounding a roadway in a lower coal seam is examined.The technical problems of roadway control are discussed based on the geological conditions existing in the Liyazhuang Mine No.2 coal seam.The stress distribution and floor failure in the lower works after mining the upper coal is studied through numerical simulations.The failure mechanism of the roof and walls of a roadway located in the lower coal seam is described.The predicted deformation and failure of the roadway for different distances between the two coal seams are used to design two ways of supporting the lower structure.One is a combined support consisting of anchors with a joist steel tent and a combined anchor truss.A field test of the design was performed to good effect.The results have significance for the design of supports for roadways located in similar conditions.