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Nonlinear observer design

Nonlinear observer design

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Observers are needed to estimate unmeasured state variables of dynamic systems. They are often used for output feedback control design when only the outputs are available for the control design. Observers can also be used for other estimation purposes such as fault detection and diagnostics. There are many results on nonlinear observer design in literature, and in this chapter, we can introduce only a number of results. Observer design for linear systems is briefly reviewed before the introduction of observers with linear error dynamics. We then introduce another observer design method based on Lyapunov's auxiliary theorem, before the observer design for systems with Lipschitz nonlinearities. At the end of this chapter, adaptive observers are briefly described.

Chapter Contents:

  • 8.1 Observer design for linear systems
  • 8.2 Linear observer error dynamics with output injection
  • 8.3 Linear observer error dynamics via direct state transformation
  • 8.4 Observer design for Lipschitz nonlinear systems
  • 8.5 Reduced-order observer design
  • 8.6 Adaptive observer design

Inspec keywords: nonlinear systems; observers; Lyapunov methods; linear systems; feedback; control system synthesis

Other keywords: fault diagnostics; adaptive observers; nonlinear observer design; linear systems; dynamic systems; Lyapunov's auxiliary theorem; fault detection; output feedback control design; Lipschitz nonlinearities; linear error dynamics

Subjects: Control system analysis and synthesis methods; Stability in control theory; Nonlinear control systems

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