Title :
Numerical design of nonlinear observers with approximately linear error dynamics
Author :
Deutscher, Joachim
Author_Institution :
Lehrstuhl fur Regelungstechnik, Univ. Erlangen-Nurnberg, Erlangen
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;
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
DOI :
10.1109/CACSD-CCA-ISIC.2006.4777113
