High gain observer design for a class of MIMO nonlinear systems triangular with respect to an order

C. Treangle (1) , Tomas Menard (1) , M. Farza (1)

1 LAC - Laboratoire d'automatique de Caen

In this paper, the design of a high-gain observer for a large class of MIMO nonlinear systems is considered. An order on the indices of the state variables is first introduced, which allows to characterize a large class of uniformly observable MIMO systems. This order is further used in order to design an observer whose underlying error exponentially converges toward zero. The approach is validated on simulations.

Mots clés: Control system synthesis; Convergence; MIMO systems; Nonlinear control systems; Observers; Parameter estimation; Zirconium; Observability; Indexes; Automatic control; MIMO communication

Domaines: Automatique / Robotique

C. Treangle, Tomas Menard, M. Farza. High gain observer design for a class of MIMO nonlinear systems triangular with respect to an order. 18th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), Dec 2017, Monastir, Tunisia. pp.378-383, ⟨10.1109/STA.2017.8314867⟩. ⟨hal-02142126⟩