High Gain Observer for Structured Multi-Output Nonlinear Systems

Abstract

Abstract-In this note, we present two system structures that characterize classes of multi-input multi-output uniformly observable systems. The first structure is decomposable into a linear and a nonlinear part while the second takes a more general form. It is shown that the second system structure, being more general, contains several system structures that are available in the literature. Two high gain observer design methodologies are presented for both structures and their distinct features are highlighted.

Observer design for some classes of uniformly observable nonlinear hybrid systems

“…The triangular structure given above is quite restrictive (see [14]). Additionally, the observer design for such structures is quite involved.…”

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

“…Disturbance rejection control is also widely used in applications of rigid body dynamics and servo systems [15][16][17]. Disturbance observer based control (DOBC) approaches provide an active way to handle disturbances and improve the robustness of the closed-loop systems.…”

“…Therefore, it is necessary to design a state observer to make state estimation for the system. State observer based control schemes have been developed for many species of nonlinear systems such as nonlinear time-delay systems [34,35], Lipschitz nonlinear systems [24,26,36], and other structured systems [15,27,28]. According to the design theory, state observers can be classified, for example, as Luenberger observer [29,36], highgain observer [30], and sliding mode observer [31,32].…”

Observer design for uncertain nonlinear systems with unmodeled dynamics

“…The observer schemes have been developed for all kinds of nonlinear systems, such as timedelay systems (Ghanes, De Leon, & Barbot, 2013;Ibrir, 2009;Wu, 2009), Lipschitz nonlinear systems (Ekramian, Sheikholeslam, Hosseinnia, & Yazdanpanahd, 2013) and other class of nonlinear systems (Boizot, Busvelle, & Gauthier, 2010;Churilov, Medvedev, & Shepeljavyi, 2012;Farza, M'Saad, Maatoug, & Kamoun, 2010;Grip, Saberi, & Johansen, 2012;Hammouri, Bornard, & Busawon, 2010;Marino, Santosuosso, & Tomei, 2001;Menard, Moulay, & Perruquetti, 2010;Stamnes, Aamo, & Kaasa, 2011). However, few observer results have been reported for nonlinear systems with the unmodeled dynamics.…”