Robustness of nonlinear observers — Application to biological models

Due to the measurement problems encountered in many biotechnological applications, observers are basic ingredients of advanced model based control algorithms. The measurement problem can only be attacked properly by designing nonlinear observers. The large process uncertainty always present when dealing with biological processes necessitates a robustness analysis of the observers. In this paper the robustness against parametric and structural uncertainty is studied of an observer based on local linearisation in the original coordinates.