Nonlinear observers for perspective time-invariant linear systems

Perspective dynamical systems arise in machine vision, in which only perspective observation is available. This paper proposes and studies a Luenberger-type nonlinear observer for perspective time-invariant linear systems. Assuming a given perspective time-invariant linear system to be Lyapunov stable and to satisfy some sort of detectability condition, it is shown that the estimation error converges exponentially to zero. Finally, a simple numerical example is presented to illustrate the result obtained.