Title :
Design of globally asymptotically stable nonlinear observers using Lyapunov functions
Author_Institution :
Fac. of Electr. & Inf. Eng., Wuppertal Univ., Germany
Abstract :
We present a method for the design of nonlinear observers using Lyapunov functions. We assume the system is in observable normal form already known from the literature. Based on this normal form the observer design is carried out. In related work some assumptions regarding the nonlinearities are usually made, e.g., Lipschitzness or global boundedness. We show that a very weak growth condition, namely, monotone decreasing behaviour with respect to some variables will enable us to construct globally asymptotically stable observers using an appropriate Lyapunov function. An example which illustrates the power of these new design conditions concludes the paper
Keywords :
Lyapunov methods; asymptotic stability; matrix algebra; nonlinear systems; observers; state-space methods; Lipshitzness; Lyapunov functions; global boundedness; globally asymptotically stable nonlinear observers; monotone decreasing behaviour; nonlinearities; observable normal form; very weak growth condition; Design engineering; Equations; Lyapunov method; Observability; State-space methods; Sufficient conditions;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946032