Title :
Design of state observers from a drift-observability property
Author :
Mora, Manuela Dalla ; Germani, Alfredo ; Manes, Costanzo
Author_Institution :
Dipartimento di Ingegneria Elettrica, L´´Aquila Univ., Italy
fDate :
8/1/2000 12:00:00 AM
Abstract :
In this paper, the problem of state observation with exponential error decay for nonlinear systems affine in the input is considered and an observer is proposed. For such an observer, the drift-observability property of the system (i.e., observability for zero input), together with an assumption on the input amplitude or on the observation relative degree, are sufficient conditions for exponential convergence of the observation error. The existence of an exponential observer is correlated to the existence of a solution for an H∞ Riccati-like inequality. Global and semiglobal convergence results are presented
Keywords :
H∞ optimisation; Riccati equations; convergence; correlation methods; nonlinear systems; observers; H∞ Riccati-like inequality; affine nonlinear systems; drift-observability property; exponential convergence; exponential error decay; global convergence results; input amplitude; observation relative degree; semiglobal convergence results; state observer design; Geometry; Jacobian matrices; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Observability; Observers; Riccati equations; Sufficient conditions;
Journal_Title :
Automatic Control, IEEE Transactions on
