Call for participation

This is a one-day interactive workshop on model-based observer design presented on request. The aim is to determine which states and parameters of an observer model can be estimated with reasonable accuracy from available measurements. This can be established using observability theory. Once observability is established, development of Kalman filters will be discussed to estimate the unknown states and parameters. The grinding mill from the mineral processing industry will be used as the main illustrative example. At the end of the event, attendees will be equipped to assess the observability of the states and parameters of a process model, and apply an Extended Kalman Filter to estimate the unknowns.

The workshop will be presented by Dr Derik le Roux, a lecturer at the University of Pretoria.
Contact him at for further information regarding the workshop.

More information on this event

Who should attend

The workshop is intended for practitioners and academics involved with model-based design and implementation of observers. The workshop will have a strong theoretical component, but with adequate examples and problems.


A background knowledge of linear system theory, state-space models and linear algebra is recommended. The workshop will be held in a computer laboratory. Personal computers will not be necessary. Application examples will be presented in Matlab on the computers. The Matlab code will be made available.


08:00 – 8:30 Registration (Tea/Coffee)

Session 1: Background

  • Discretisation of Non-linear and Linear systems
  • Eigenvalues and Eigenvectors Lie Derivatives

Session 2: Observability Theory (1)

  • Non-linear Observability
  • Examples

10:00 –10:15 Tea Break

Session 3: Observability Theory (2)

  • Linear Observability
  • Kalman Decomposition
  • Examples

12:15–13:00 Lunch Break

Session 3: Kalman Filters (1)

  • Extended Kalman Filter
  • Unscented Kalman Filter

14:30 – 14:45 Tea Break

Session 4: Kalman Filters (2)

  • Examples

16:30 Closing and Evaluation

Workshop fees

SACAC members: R 2250
Non-members: R 3000
Bona Fide Students: R 1500

(The fees above are approximate fees.)
Fees include a workshop manual, 
tea/coffee and a light lunch.

Enquiries & contact information

Keri Caitlin Garland
Tel. (011) 021-8196
Mobile: (086) 570-7909