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Article Dans Une Revue Automatica Année : 2009

New algorithm for observer error linearization with a diffeomorphism on the outputs

Résumé

In this paper, we give the necessary and sufficient conditions that guarantee the existence of a diffeomorphism which allows one to transform a multi-output nonlinear dynamical system into a normal observable canonical form. In particular, we propose an algorithm that permits one to derive such diffeomorphism. The main feature of the canonical form is that it is obtained by allowing a diffeomorphism on the outputs and it also allows one to design an observer with linear error dynamics. We first consider multi-output nonlinear dynamical system without inputs. We then extend the results obtained to multi-output nonlinear dynamical system with inputs

Domaines

Automatique

Dates et versions

hal-00433548 , version 1 (19-11-2009)

Identifiants

Citer

Driss Boutat, Hassan Hammouri, Abderraouf Benali, Krishna Busawon. New algorithm for observer error linearization with a diffeomorphism on the outputs. Automatica, 2009, 45 (10), pp.2187-2193. ⟨10.1016/j.automatica.2009.05.030⟩. ⟨hal-00433548⟩
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