Observer design for discrete nonlinear descriptor systems
Observer design for discrete nonlinear descriptor systems
- Author(s): D.N. Shields
- DOI: 10.1049/cp:19960660
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- Author(s): D.N. Shields Source: UKACC International Conference on Control. Control '96, 1996 p. 831 – 836
- Conference: UKACC International Conference on Control. Control '96
- DOI: 10.1049/cp:19960660
- ISBN: 0 85296 666 0
- Location: Exeter, UK
- Conference date: 2-5 Sept. 1996
- Format: PDF
A nonlinear observer is considered for a class of discrete nonlinear descriptor systems subject to unknown inputs. This class is partly characterised by globally Lipschitz nonlinearities and a member system may be singular. First, the system is transformed into SVD-form from which a preliminary feedback control function can be designed, if needed, to render the system causal. Then a nonlinear observer is proposed which is based on the solution of a Riccati equation and on the use of a quadratic Lyapunov function. A design algorithm is given and applied to the estimation of the states of a flexible joint robot.
Inspec keywords: Lyapunov methods; control nonlinearities; nonlinear control systems; robots; singular value decomposition; discrete time systems; Riccati equations; observers
Subjects: Simulation, modelling and identification; Stability in control theory; Robotics; Control system analysis and synthesis methods; Algebra; Nonlinear control systems; Discrete control systems
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