Overview
- Illustrates a unified overview of the general designs available in the literature, including the most recent results, and most of their proofs
- Includes a unique design strategy split into three different parts
- Gathers the most important results available in the vast and scattered literature on the subject
Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 479)
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Table of contents (11 chapters)
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Front Matter
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Normal Forms and Their Observers
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Front Matter
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Transformation into a Normal Form
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Front Matter
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Expression of the Dynamics of the Observer in the System Coordinates
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Front Matter
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Back Matter
Keywords
About this book
The book starts from the observation that most observer designs consist in looking for a reversible change of coordinates transforming the expression of the system dynamics into some specific structures, called normal forms, for which an observer is known. Therefore, the problem of observer design is broken down into three sub-problems:
• What are the available normal forms and their associated observers?
• Under which conditions can a system be transformed into one of these forms and through which transformation?
• How can an inverse transformation that recovers an estimate in the given initial coordinates be achieved?
This organisation allows the book to structure results within a united framework, highlighting the importance of the choice of the observer coordinates for nonlinear systems. In particular, the first part covers state-affine forms with their Luenberger or Kalman designs, and triangular forms with their homogeneous high-gain designs. The second part addresses the transformation into linear forms through linearization by output injection or in the context of a nonlinear Luenberger design, and into triangular forms under the well-known uniform and differential observability assumptions. Finally, the third part presents some recently developed methods for avoiding the numerically challenging inversion of the transformation.
Observer Design for Nonlinear Systems addresses students and researchers looking for an introduction to or an overview of the state of the art in observer design for nonlinear continuous-time dynamical systems. The book gathers the most important results focusing on a large and diffuse literature on general observer designs with global convergence, and is a valuable source of information for academics and practitioners.
Authors and Affiliations
About the author
Bibliographic Information
Book Title: Observer Design for Nonlinear Systems
Authors: Pauline Bernard
Series Title: Lecture Notes in Control and Information Sciences
DOI: https://doi.org/10.1007/978-3-030-11146-5
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2019
Hardcover ISBN: 978-3-030-11145-8Published: 05 February 2019
eBook ISBN: 978-3-030-11146-5Published: 01 February 2019
Series ISSN: 0170-8643
Series E-ISSN: 1610-7411
Edition Number: 1
Number of Pages: XI, 187
Number of Illustrations: 67 b/w illustrations, 9 illustrations in colour
Topics: Control and Systems Theory, Vibration, Dynamical Systems, Control, Communications Engineering, Networks, Systems Theory, Control