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Observer Design for Nonlinear Dynamical Systems: Differential geometric methods

Driss Boutat 1 Gang Zheng 2
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This book presents a differential geometric method for designing nonlinear observers for multiple types of nonlinear systems, including single and multiple outputs, fully and partially observable systems, and regular and singular dynamical systems. It is an exposition of achievements in nonlinear observer normal forms. The book begins by discussing linear systems, introducing the concept of observability and observer design, and then explains the difficulty of those problems for nonlinear systems. After providing foundational information on the differential geometric method, the text shows how to use the method to address observer design problems. It presents methods for a variety of systems. The authors employ worked examples to illustrate the ideas presented.
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https://hal.inria.fr/hal-03168869
Contributor : Gang Zheng <>
Submitted on : Sunday, March 14, 2021 - 8:30:01 PM
Last modification on : Tuesday, March 16, 2021 - 2:57:46 PM

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Driss Boutat, Gang Zheng. Observer Design for Nonlinear Dynamical Systems: Differential geometric methods. 2021, 978-3-030-73742-9. ⟨10.1007/978-3-030-73742-9⟩. ⟨hal-03168869⟩

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