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arXiv · 1712.08209

On State Observers for Nonlinear Systems: A New Design and a Unifying Framework

Bowen Yi·Romeo Ortega·Weidong Zhang
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Abstract

In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of it---extending the realm of applicability of both methods. A second contribution of the paper is the proof that these designs can be recast as particular cases of immersion and invariance observers---providing in this way a unified framework for their analysis and design. Simulation results of a physical system that illustrates the superior performance of the proposed observer compared to other existing observers are presented.

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Bowen Yi, Romeo Ortega, Weidong Zhang. 2017-12-21. On State Observers for Nonlinear Systems: A New Design and a Unifying Framework. https://doi.org/10.1109/tac.2018.2839526

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