Approximate Observer Error Linearization for Multi-Output Systems
Abstract
In this paper we discuss a generalization of the extended Luenbergerobserver for multi-output systems. Our approach can be interpreted as approximate error linearization. While the extended Luenberger observer results from a first order approximation of exact error dynamics, this paper provides an explicit formula for a second order approximation.The design procedure is formulated in terms of Lie derivatives andLie brackets.
