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Closed-Loop Behavior of a Class of Nonlinear Systems Under EKF-Based Control

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2 Author(s)
Ahrens, J.H. ; Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI ; Khalil, H.K.

We study the closed-loop behavior of the extended Kalman filter (EKF) for a class of deterministic nonlinear systems that are transformable to the special normal form with linear internal dynamics. We argue that the closed-loop system is asymptotically stable and the estimation error exponentially converges to zero. We compare the performance of the EKF to a high-gain observer through simulation

Published in:

Automatic Control, IEEE Transactions on  (Volume:52 ,  Issue: 3 )