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Nonlinear Observers and Separation Principle

  • Alberto IsidoriEmail author
Chapter
  • 1.9k Downloads
Part of the Advanced Textbooks in Control and Signal Processing book series (C&SP)

Abstract

This chapter considers the design of asymptotic state observers for a single-output nonlinear system. A fundamental property that makes the design of such observers possible is the existence of change of coordinates by means of which the system is brought to a special form in which a property of observability, uniform with respect to the input, is highlighted. For such systems, it is possible to design global asymptotic state observers. Then, a nonlinear equivalent of the so-called separation principle of linear system theory is developed. It is shown how to combine a state feedback stabilizer with a nonlinear observer, so as to obtain a dynamic output feedback by means of which asymptotic stability with guaranteed domain of attraction is obtained.

Keywords

Nonlinear Observer Dynamic Output Feedback Asymptotic State Observers Guaranteed Domain Canonical Flag 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria Informatica, Automatica e GestionaleUniversità degli Studi di Roma “La Sapienza”RomeItaly

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