Brief paper: An adaptive high-gain observer for nonlinear systems

Authors:
Nicolas Boizot;Eric Busvelle;Jean-Paul Gauthier
Affiliations:
University of Luxemburg, Campus Kirchberg, 6, rue Richard Coudenhove-Kalergi, Luxembourg, L-1359, Luxembourg;IUT Dijon-Auxerre, LE2I, Route des plaines de l'Yonne, 89000 Auxerre, France;Université de Toulon, Avenue de l'Université, 83130 La Garde, France
Venue:
Automatica (Journal of IFAC)
Year:
2010

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Abstract

In this paper the authors provide a solution to the noise sensitivity of high-gain observers. The resulting nonlinear observer possesses simultaneously (1) extended Kalman filter's good noise filtering properties, and (2) the reactivity of the high-gain extended Kalman filter with respect to large perturbations. The authors introduce innovation as the quantity that drives the gain adaptation. They prove a general convergence result, propose guidelines to practical implementation and show simulation results for an example.