On State Observers for Nonlinear Systems: A New Design and a Unifying Framework

Abstract

In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of it---extending the realm of applicability of both methods. A second contribution of the paper is the proof that these designs can be recast as particular cases of immersion and invariance observers---providing in this way a unified framework for their analysis and design. Simulation results of a physical system that illustrates the superior performance of the proposed observer compared to other existing observers are presented.

References in corpus (4)

• Performance Enhancement of Parameter Estimators via Dynamic Regressor Extension and Mixing
• On the Existence of a Kazantzis-Kravaris/Luenberger Observer
• A Parameter Estimation Approach to State Observation of Nonlinear Systems
• State Observers for Sensorless Control of Magnetic Levitation Systems

Cited by in corpus (4)

• Generalized Parameter Estimation-based Observers: Application to Power Systems and Chemical-Biological Reactors
• Output Feedback Controllers Based on a Bank of High-Gain Observers: Robustness Analysis Against Measurement Noise
• Reduced-Order Nonlinear Observers via Contraction Analysis and Convex Optimization
• An Adaptive Observer for Sensorless Control of the Levitated Ball Using Signal Injection