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Nonlinear observer design techniques with observability functions

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4 Author(s)
Carnevale, D. ; Dipt. di Ing. Civile e Ing. Inf., Univ. di Roma Tor Vergata, Rome, Italy ; Galeani, S. ; Sassano, M. ; Astolfi, A.

Two different observer design techniques for linear and nonlinear systems based on the so-called observability function, which is related to the Gramian matrix in the linear case, are proposed. Asymptotic and finite-time convergence results are provided. The effectiveness of the proposed approaches are demonstrated via numerical simulations. The asymptotically convergent observer design technique provide constructions similar to the Maximum-likelihood nonlinear filter despite the different perspectives.

Published in:

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Date of Conference:

10-13 Dec. 2013