Observer design for nonlinear control systems
Systems & Control Letters
Further results on the observer design problem
Systems & Control Letters
On the state observation and output feedback problems for nonlinear uncertain dynamic systems
Systems & Control Letters
Global stabilization of nonlinear systems with a class of unmatched uncertainties
Systems & Control Letters
Robust control of nonlinear uncertain systems under generalized matching conditions
Automatica (Journal of IFAC) - Special section on fault detection, supervision and safety for technical processes
On characterizations of the input-to-state stability property
Systems & Control Letters
On contraction analysis for non-linear systems
Automatica (Journal of IFAC)
Robust Control of Nonlinear Uncertain Systems
Robust Control of Nonlinear Uncertain Systems
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
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In this paper, by introducing the concept of command-to-state/output mapping, it is shown that the state of an uncertain nonlinear system can robustly be estimated if command-to-state mapping of the system and that of an uncertainty-free observer converge to each other. Then, a global Jacobian system is defined to capture this convergence property for the dynamics of estimation error, and a set of general stability and convergence conditions are derived using Lyapunov direct method. It is also shown that the conditions are constructive and can be reduced to an algebraic Lyapunov matrix equation by which nonlinear feedback in the observer and its corresponding Lyapunov function can be searched in a way parallel to those of nonlinear control design. Case studies and examples are used to illustrate the proposed observer design method. Finally, observer-based control is designed for systems whose uncertainties are generated by unknown exogenous dynamics.