Technical communique: An observation algorithm for nonlinear systems with unknown inputs

Authors:
Jean-Pierre Barbot;Driss Boutat;Thierry Floquet
Affiliations:
Equipe Commande des Systèmes (ECS), ENSEA, 6 Avenue du Ponceau, 95014 Cergy, France and Equipe Projet ALIEN, INRIA Lille - Nord Europe, France;LVR/ENSIB, 10 Boulevard de Lahitolle, 18020 Bourges, France;LAGIS UMR CNRS 8146, Ecole Centrale de Lille, Cité Scientifique, BP 48, 59651 Villeneuve d'Ascq, France and Equipe Projet ALIEN, INRIA Lille - Nord Europe, France
Venue:
Automatica (Journal of IFAC)
Year:
2009

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Abstract

This paper deals with the design of unknown input observers for nonlinear systems. An algorithm which determines if the state and the unknown input of the system can be recovered in finite time is introduced. This algorithm leads to the transformation of the system into an extended block triangular observable form suitable for the design of finite time observers. The proposed method is useful to relax some restrictive conditions of the existing nonlinear unknown input observer design procedures.