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Algorithm to compute nonlinear partial observer normal form with multiple outputs

Abstract : It is well-known that observer design is a powerful tool to estimate the states of a dynamical system. Given a multi-output nonlinear dynamical system whose states are partially observable, this paper investigates the problem of observer design to estimate those observable states. It considers firstly a nonlinear system without inputs, and provides a set of geometric conditions, guaranteeing the existence of a change of coordinates which splits the studied nonlinear dynamical system into two subsystems, where one of them is of the well-known nonlinear observer normal form, for which a Luenberger-like observer can be designed. An extension to nonlinear systems with inputs has then been deduced.
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https://hal.inria.fr/hal-02406825
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Submitted on : Thursday, December 12, 2019 - 11:39:45 AM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM
Long-term archiving on: : Friday, March 13, 2020 - 9:36:10 PM

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Wided Saadi, Driss Boutat, Gang Zheng, Lassaad Sbita, Lei Yu. Algorithm to compute nonlinear partial observer normal form with multiple outputs. IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2700 - 2707. ⟨10.1109/TAC.2019.2946528⟩. ⟨hal-02406825⟩

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