Locally convergent nonlinear observers
Krener, Arthur J.
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We introduce a new method for the design of observers for nonlinear systems using backstepping. The method is applicable to a class of nonlinear systems slighter larger than those treated by Gauthier, Hammouri, and Othman [IEEE Trans. Automat. Control, 27 (1992), pp. 875ﾖ880]. They presented an observer design method that is globally convergent using high gain. In contrast to theirs, our observer is not high gain, but it is only locally convergent. If the initial estimation error is not too large, then the estimation error goes to zero exponentially. A design algorithm is presented.
The article of record as published may be located at http://dx.doi.org/10.1137/S0363012900368612
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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