Nonlinear observer for a class of mechanical systems

The problem of designing an observer for a particular class of nonlinear mechanical systems is investigated. For this class, the error between the state of the system and the state of the observer is described by a linear differential equation with an output-dependent dynamical matrix. Existence conditions are derived on the basis of a known result on the stability of slowly varying systems. An an example, a simple flexible mechanical structure is presented.<
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