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Nonlinear observers with approximately linear error dynamics: the multivariable case

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2 Author(s)
Lynch, A.F. ; Inst. fur Regelungs- und Steuerungstheorie, Tech. Univ. Dresden, Germany ; Bortoff, S.A.

Exact error linearization uses nonlinear input-output injection to design observers with linear error dynamics in certain coordinates. This approach can only be applied nongenerically. We propose an observer for a wider class of multivariable systems which uniformly minimizes the nonlinear part of the system that cannot be canceled by nonlinear input-output injection. Our approach is numerical, constructive, and provides locally exponentially stable error dynamics. An example compares our design with a high-gain method

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Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 6 )