Title :
The Observer Error Linearization Problem via Dynamic Compensation
Author :
Califano, C. ; Moog, C.H.
Author_Institution :
Dipt. di Ing. Inf. Autom. e Gestionale Antonio Ruberti, Univ. di Roma La Sapienza, Rome, Italy
Abstract :
Linearization by output injection has played a key role in the observer design for nonlinear control systems for almost three decades. In this technical note, following some recent works, geometric necessary and sufficient conditions are derived for the existence of a dynamic compensator solving the problem under regular output transformation. An algorithm which computes a compensator of minimal order is given.
Keywords :
compensation; control system synthesis; linearisation techniques; nonlinear control systems; observers; dynamic compensation; minimal order compensator; necessary condition; nonlinear control systems; observer design; observer error linearization; output injection; regular output transformation; sufficient condition; Equations; Heuristic algorithms; Indexes; Iron; Observability; Observers; Vectors; Dynamic compensator; linearization by output injection; nonlinear systems; state and output transformations;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2014.2308606
