Dynamic observers for Nonlinear Lipschitz Systems
| Authors: | Pertew Amr, UNiversity of Alberta, Canada
Marquez Horacio, UNiversity of Alberta, Canada
Zhao Qing, UNiversity of Alberta, Canada |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Observers II |
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| Keywords: | Observers, Nonlinear Systems, H-infinity optimization, Dynamic filters, Regularization |
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Abstract
The problem of observer design for Lipschitz nonlinear systems isconsidered. A new dynamic framework which is a generalization ofpreviously used state observers is introduced. The correctnecessary and sufficient condition on the dynamic gain thatensures asymptotic convergence of the new observer is presented.The equivalence between this condition and an H-infinity optimalcontrol problem which satisfies the standard regularityassumptions in H-infinity optimization theory is shown.Based on these results,A design procedure which issolvable using commercially availablesoftware is presented and a simulation example is alsogiven to illustrate the proposed design.
