Title :
The Observer Design for Lipschitz Nonlinear Systems Based on LMI
Author_Institution :
Dept. of Comput., Guilin Univ. of Electron. Technol.
Abstract :
This paper deals with the design methods of full-order and reduced-order observers for Lipschitz nonlinear systems. Under the assumption that a LMI is feasible, we point out there exists a full-order observer. By a way of coordinate transformation, we also put forward a design approach of reduced-order observer under the some assumption and the gain matrix of reduced-order observer is based on the solution of the LMI. The developed theory is used successfully in the design of an observer for a flexible joint robotic system
Keywords :
control system synthesis; linear matrix inequalities; nonlinear control systems; observers; reduced order systems; robots; LMI; Lipschitz nonlinear systems; coordinate transformation; flexible joint robotic system; full-order observer; observer design; reduced-order observers; Cities and towns; DC motors; Design methodology; Linear systems; Lyapunov method; Nonlinear systems; Observers; Paper technology; Robot kinematics; State estimation;
Conference_Titel :
Industrial Electronics and Applications, 2006 1ST IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-9513-1
Electronic_ISBN :
0-7803-9514-X
DOI :
10.1109/ICIEA.2006.257246
