A block triangular observer form for non-linear observer design

This paper discusses observer design for unforced non-linear multi-output systems using a block triangular observer form (BTOF). The BTOF allows an established exact error linearization observer design method to be generalized to a larger class of multi-output systems. Observer design proceeds in a...

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Bibliographic Details
Published inInternational journal of control Vol. 81; no. 2; pp. 177 - 188
Main Authors Wang, Y., Lynch, A. F.
Format Journal Article
LanguageEnglish
Published London Taylor & Francis Group 01.02.2008
Taylor & Francis
Subjects
Applied sciences
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Modelling and identification
Linear form
Observer
Non linear control
Control synthesis
System identification
Exponential stability
Linearization
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Summary:This paper discusses observer design for unforced non-linear multi-output systems using a block triangular observer form (BTOF). The BTOF allows an established exact error linearization observer design method to be generalized to a larger class of multi-output systems. Observer design proceeds in a decentralized manner, or subsystem-at-a-time, starting with the uppermost subsystem. Designs for each subsystem effectively treat upper subsystem states as known measurements and are relatively simple given their reduced dimension. Exponential error stability results are given. New necessary and sufficient existence conditions are given for the BTOF. Examples illustrate the construction of the BTOF coordinates and the advantages of a BTOF-based design compared to a generally applicable method.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170701487771