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A global separation theorem for a new class of nonlinear observers

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1 Author(s)
Arcak, M. ; Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA

This paper investigates certainty-equivalence implementation of state-feedback controllers with a new nonlinear observer design recently introduced by the author. The main result proves that the reduced-order variant of this observer preserves global stability of state-feedback designs. In contrast, the full-order observer may lead to instability. The discrepancy between the two forms of the observer is illuminated with examples.

Published in:

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on  (Volume:1 )

Date of Conference:

10-13 Dec. 2002