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An Immersion-Based Observer Design for Rank-Observable Nonlinear Systems

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2 Author(s)
Besancon, G. ; Lab. d''Automatique de Grenoble, ENSIEG, Saint-Martin D''Heres ; Ţiclea, A.

In this note, an observer design for a wide class of nonlinear systems is proposed. It is based on some high-gain design for the particular case of state affine systems up to triangular nonlinearity on the one hand, and immersion of nonlinear systems into such a form on the other hand. Conditions for the observer convergence are given in terms of appropriate excitation, and a constructive procedure for the immersion is presented. The methodology is illustrated by examples of application

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Automatic Control, IEEE Transactions on  (Volume:52 ,  Issue: 1 )