Observer design for nonlinear control systems
Systems & Control Letters
On the state observation and output feedback problems for nonlinear uncertain dynamic systems
Systems & Control Letters
A Smooth Converse Lyapunov Theorem for Robust Stability
SIAM Journal on Control and Optimization
On uniform observation of nonuniformly observable systems
Systems & Control Letters
Output-to-state stability and detectability of nonlinear systems
Systems & Control Letters
Equivalent Sliding Mode Control Based On Nonlinear Observer For Nonlinear Non-Minimum-Phase Systems
Journal of Dynamical and Control Systems
Brief paper: Full-order observer design for a class of port-Hamiltonian systems
Automatica (Journal of IFAC)
Time-varying increasing-gain observers for nonlinear systems
Automatica (Journal of IFAC)
Hi-index | 22.15 |
We present a new design scheme of nonlinear state observers (global, full order, asymptotic observers) through passivation of the error dynamics. In order to consider passivity of the error dynamics for the observer problem, we place a conceptual input and output on the generalized error dynamics which also includes the plant, and the strictness of passivity is extended with respect to a set in which the estimation error becomes zero. Then, output feedback passivation for the error dynamics will lead to the construction of a state observer. It is also shown that a nonlinear observer is generally vulnerable to measurement disturbance, in the sense that even an arbitrarily small measurement disturbance can lead to a blowup of the error state. However, due to the passivity of the error dynamics, the proposed nonlinear injection gain can be easily modified for the observer to be robust to measurement disturbances.