Nonlinear system immersion, observers and finite-dimensional filters
Systems & Control Letters
Nonlinear observer design by observer error linearization
SIAM Journal on Control and Optimization
Observer design for nonlinear control systems
Systems & Control Letters
L2-Gain and Passivity Techniques in Nonlinear Control
L2-Gain and Passivity Techniques in Nonlinear Control
Nonlinear and Adaptive Control with Applications
Nonlinear and Adaptive Control with Applications
Brief Nonlinear observer design via passivation of error dynamics
Automatica (Journal of IFAC)
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We consider a special class of port-Hamiltonian systems for which we propose a design methodology for constructing globally exponentially stable full-order observers using a passivity based approach. The essential idea is to make the augmented system consisting of the plant and the observer dynamics to become strictly passive with respect to an invariant manifold defined on the extended state-space, on which the state estimation error is zero. We first introduce the concept of passivity of a system with respect to a manifold by defining a new input and output on the extended state-space and then perform a partial state feedback passivation which leads to the construction of the observer. We then illustrate this observer design procedure on two physical examples, the magnetic levitation system and the inverted pendulum on the cart system.