Numerical design of nonlinear observers with approximately linear error dynamics

Author

Deutscher, Joachim

Author_Institution

Lehrstuhl fur Regelungstechnik, Univ. Erlangen-Nurnberg, Erlangen

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

2985

Lastpage

2990

Abstract

This paper presents a numerical approach for the approximate observer error linearization technique of Kazantzis (1998) and Krener (2002), The proposed design procedure is based on the solution of a linear matrix equation that is obtained in explicit form. In addition, an alternative method for computing the change of coordinates and the output injection is developed that can be used to design regionally exponentially stable observers with approximately linear error dynamics. Simple examples demonstrate the results of the paper

Keywords

asymptotic stability; error analysis; linearisation techniques; matrix algebra; nonlinear control systems; observers; approximate observer error linearization technique; exponentially stable observers; linear error dynamics; linear matrix equation; nonlinear observers; output injection; Computer errors; Control systems; Error correction; Linear approximation; Linearization techniques; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Observers; Polynomials;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4777113

Filename

4777113