From Continuous-Time Design to Sampled-Data Design of Nonlinear Observers

Abstract

In this work, a sampled-data nonlinear observer is designed using a continuous-time design coupled with an inter-sample output predictor. The proposed sampled-data observer is a hybrid system. It is shown that under certain conditions, the robustness properties of the continuous-time design are inherited by the sampled-data design, as long as the sampling period is not too large. The approach is applied to linear systems and to triangular globally Lipschitz systems.

Submitted for possible publication to IEEE Transactions on Automatic Control