Remarks on equivalence between full order and reduced order nonlinear observers

Motivated by the fact that, for linear systems, existence conditions for a full order observer and for a reduced order observer are the same, we study relationship between full order and reduced order observers for general nonlinear systems. We employ coordinate transformations for dealing with redu...

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Bibliographic Details
Published in42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Vol. 6; pp. 5837 - 5840 Vol.6
Main Authors Hyungbo Shim, Praly, L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Convergence
Coordinate measuring machines
Estimation error
Linear systems
Lyapunov method
Manipulator dynamics
Nonlinear systems
Observers
Robustness
State estimation
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Summary:Motivated by the fact that, for linear systems, existence conditions for a full order observer and for a reduced order observer are the same, we study relationship between full order and reduced order observers for general nonlinear systems. We employ coordinate transformations for dealing with reduced order observers. By restricting the change of coordinates to be linear, we obtain some equivalence between full order and reduced order observers and relationship between two corresponding error Lyapunov functions.
ISBN:9780780379244
0780379241
ISSN:0191-2216
DOI:10.1109/CDC.2003.1271936