Observer based tracking of bilinear systems: A differential algebraic approach Original Research Article

Techniques of differential algebra are used to derive an observer-based controller for bilinear systems. The generalized observability canonical form (GOCF) and the generalized controller canonical form (GCCF) introduced by Fliess are the main ingredients in our approach. Our controller actually achieves both stability and tracking by linearizing the tracking error. The controller is then of error-driven type; the dynamics of the error is estimated by an observer in the closed loop.