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Observer design for systems with multivariable monotone nonlinearities

✍ Scribed by Xingzhe Fan; Murat Arcak

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
310 KB
Volume
50
Category
Article
ISSN
0167-6911

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✦ Synopsis

Globally convergent observers are designed for a class of systems with multivariable nonlinearities. The approach is to represent the observer error system as the feedback interconnection of a linear system and a state-dependent multivariable nonlinearity. We ΓΏrst extend an earlier design (Automatica 37 (12) (2001) 1923) to multivariable nonlinearities, satisfying an analog of the scalar nondecreasing property. Next, we exploit the structure of the nonlinearity to relax the positive real restriction on the linear part of the observer error system. This relaxed design renders the feasibility conditions less restrictive, and widens the applicability of the observer, as illustrated with examples. Finally, output nonlinearities are studied and the design is extended to be adaptive in the presence of unknown parameters.

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