On State Observers for Nonlinear Systems: A New Design and a Unifying Framework

Bowen Yi (1) , Romeo Ortega (2) , Weidong Zhang (3)

1 Shanghai Jiao Tong University [Shanghai]
2 L2S - Laboratoire des signaux et systèmes
3 Institute of Applied Ecology

In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of it---extending the realm of applicability of both methods. A second contribution of the paper is the proof that these designs can be recast as particular cases of immersion and invariance observers---providing in this way a unified framework for their analysis and design. Simulation results of a physical system that illustrates the superior performance of the proposed observer compared to other existing observers are presented.

Mots clés: State observers; nonlinear systems; parameter estimation

Domaines: Automatique; Automatique / Robotique

Bowen Yi, Romeo Ortega, Weidong Zhang. On State Observers for Nonlinear Systems: A New Design and a Unifying Framework. IEEE Transactions on Automatic Control, 2019, 64 (3), pp.1193-1200. ⟨10.1109/TAC.2018.2839526⟩. ⟨hal-02418734⟩