We consider systems which are globally completely observable and output-to-state stable. The former property guarantees the existence of coordinates such that the dynamics can be expressed in observability form. The latter property guarantees the existence of a state norm observer and therefore the possibility of bounding any continuous state functions. Both properties allow to conceptually build an observer from an approximation of an exponentially attractive invariant manifold in the space of the system state and an output driven dynamic extension. The proposed observer provides convergence to zero of the estimation error within the domain of definition of the solutions.

Astolfi, A., Praly, L. (2006). Global complete observability and output-to-state stability imply the existence of a globally convergent observer. MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 18(1), 32-65 [10.1007/s00498-005-0161-8].

Global complete observability and output-to-state stability imply the existence of a globally convergent observer

ASTOLFI, ALESSANDRO;
2006-07-01

Abstract

We consider systems which are globally completely observable and output-to-state stable. The former property guarantees the existence of coordinates such that the dynamics can be expressed in observability form. The latter property guarantees the existence of a state norm observer and therefore the possibility of bounding any continuous state functions. Both properties allow to conceptually build an observer from an approximation of an exponentially attractive invariant manifold in the space of the system state and an output driven dynamic extension. The proposed observer provides convergence to zero of the estimation error within the domain of definition of the solutions.
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-INF/04 - Automatica
English
Con Impact Factor ISI
Approximation theory; Convergence of numerical methods; Error analysis; Estimation; Observability; Poles and zeros; System stability; Invariant manifolds; Nonlinear observers; Output-to-state stability; Nonlinear control systems
Invariant manifolds; Non linear observers; Output-to-state stability
Astolfi, A., Praly, L. (2006). Global complete observability and output-to-state stability imply the existence of a globally convergent observer. MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS, 18(1), 32-65 [10.1007/s00498-005-0161-8].
Astolfi, A; Praly, L
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/55595
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