Title :
An Immersion-Based Observer Design for Rank-Observable Nonlinear Systems
Author :
Besançon, Gildas ; Ticlea, Alexandru
Author_Institution :
Lab. d´´Automatique de Grenoble, ENSIEG, Saint-Martin D´´Heres
Abstract :
In this note, an observer design for a wide class of nonlinear systems is proposed. It is based on some high-gain design for the particular case of state affine systems up to triangular nonlinearity on the one hand, and immersion of nonlinear systems into such a form on the other hand. Conditions for the observer convergence are given in terms of appropriate excitation, and a constructive procedure for the immersion is presented. The methodology is illustrated by examples of application
Keywords :
control system synthesis; nonlinear systems; observability; observers; immersion-based observer; nonlinear observer; rank-observable nonlinear system; state affine system; triangular nonlinearity; Control systems; Convergence; Kalman filters; Linear systems; Monitoring; Nonlinear systems; Observability; High gain; immersion; locally regular inputs; nonlinear observer; observability;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2006.889867
