Observer design for nonlinear systems described by multiple models

Rodolfo Orjuela (1) , Benoît Marx (1) , José Ragot (1) , Didier Maquin (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

This paper addresses both analysis and observer design for nonlinear systems modelled by decoupled multiple models. With respect to classic used multiple models, the decoupled multiple model is characterized by heterogeneous submodels in the sense that their state spaces may be of various dimensions. Thanks to this fact, flexibility and generality is introduced in the modelling stage. The main contribution of the paper is the development of new sufficient conditions on LMI form for ensuring the exponential convergence towards zero of the estimation error in the continuous and in the discrete-time. The new proposed conditions enable to obtain a better decay rate with respect to the existing conditions. The validity of the proposed methodology and its application to sensor faults detection and isolation is illustrated by an academic example.

Mots clés: state estimation; nonlinear systems; sensor faults; multiple models; decoupled multiple model; heterogeneous local model networks

Domaines: Automatique / Robotique

Rodolfo Orjuela, Benoît Marx, José Ragot, Didier Maquin. Observer design for nonlinear systems described by multiple models. 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2009, Jun 2009, Barcelona, Spain. pp.CDROM, ⟨10.3182/20090630-4-ES-2003.00003⟩. ⟨hal-00374959⟩