A BTOF observer backstepping-based output feedback law for nonlinear systems

We present an observer-backstepping based approach to designing an output feedback law on the basis of a BTOF (block triangular observer form) observer for multi-variable nonlinear systems. The BTOF observer is a recently developed extension to the nonlinear observer used in an established approach to demonstrate observer backstepping. We illustrate our design on a model of a physical system-the magnetically levitated ball.