Zhao, S.Shmaliy, Y.Ahn, C.Shi, P.2018-08-232018-08-232017IEEE Transactions on Industrial Informatics, 2017; 13(3):967-9751551-32031941-0050http://hdl.handle.net/2440/113842Date of publication August 17, 2016Industrial processes are often organized using mechanical systems with multiple degrees-of-freedom (DOF). For real-time operation of such systems in noise environments, fast, optimal, and robust estimators are required. In this paper, information gathering aboutmulti-DOF system states is provided using the optimal finite impulse response (OFIR) filter. To use this filter in real time, a fast iterative algorithm is developed with a pseudocode available for immediate use. Although the iterative algorithm utilizes Kalman recursions, it is more robust against uncertainties andmodel errors owing to the transversal structure.We use this algorithm to estimate state in the 1-DOF torsion system and the 3-DOF helicopter system.en© 2016 IEEEAutomation process; finite impulse response (FIR) filter; iterative algorithm; Kalman filter (KF); state estimation; time-variant systemJournal article003009589110.1109/TII.2016.26010710004029297000042-s2.0-85020683888434026Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]