MIMO High Gain Trajectory Linearization Observer Design and Hardware-in-the-loop Test

In this paper, we extend the previous TLO results for SISO trajecotory linearization observer (TLO) to MIMO nonlinear dynamic systems. Regular perturbation and nonlinear high-gain observer theories are applied to analyze the stability and robustness of the TLO method. The high-gain observer theory has been extended from time-invariant cases to time-varying cases using a singular perturbation approach. The high-gain TLO design method is applied to the attitude tracking controller for Quanser UFO, which is a real-time nonlinear control test bed. Both computer simulation and hardware-in- the-loop (HIL) experimental results are presented to show the effectiveness of TLO method.