An Algorithm for System Immersion into Nonlinear Observer Form: Forced System
| Authors: | Back Juhoon, Seoul National University, Korea, Republic of
Shim Hyungbo, Seoul National University, Korea, Republic of
Seo Jin H., Seoul National University, Korea, Republic of |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Observers I |
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| Keywords: | observer, system immersion, forced system. |
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Abstract
The class of nonlinear system that can be put into nonlinear observer form (linear system with output injection) can be broadened if we use system immersion. We provide an algorithm with which one can check whether a forced system with relative degree r can be transformed into nonlinear observer form or not. The proposed algorithm generalizes the previous result and does not require the relative degree 1 assumption. In addition, it is seen that the algorithm does not involve differential equations unlike the forced system case.
