Title :
A Block Triangular Form for Nonlinear Observer Design
Author :
Wang, Yebin ; Lynch, Alan F.
Author_Institution :
Dept. of Electr. & Comput. Eng., Alberta Univ., Edmonton, Alta.
Abstract :
This note reconsiders existence conditions for an established block triangular form (BTF) for a broad class of multi-output nonlinear systems. Systems transformable into BTF coordinates allow for decentralized observer design performed subsystem-at-a-time effectively treating upper subsystem states as measurements. Sufficient conditions are given to ensure that the output is linear in BTF coordinates. An example illustrates the BTF construction and a typical observer design
Keywords :
MIMO systems; differential geometry; nonlinear control systems; observers; block triangular form; decentralized observer design; differential geometry; multioutput nonlinear system; nonlinear observer design; Coordinate measuring machines; Councils; Design methodology; Gain measurement; Geometry; Linearity; Nonlinear systems; Performance evaluation; Sufficient conditions; Vectors; Differential geometry; nonlinear systems; observers;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.884996
