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

Abstract : 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
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Automatica, Elsevier, 2009, 45 (10), pp.2187-2193. 〈10.1016/j.automatica.2009.05.030〉
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https://hal.archives-ouvertes.fr/hal-00433548
Contributeur : Hassan Hammouri <>
Soumis le : jeudi 19 novembre 2009 - 19:37:17
Dernière modification le : jeudi 7 février 2019 - 16:41:39

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

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