An observer design for uniformly observable non-linear systems
Before this paper, a high gain observer was proposed for the class of systems \[ \dot x= Ax+ g(x,u),\qquad y= Cx, \] where \(x\in \mathbb{R}^n\), \(u\in\mathbb{R}^m\), \(y\in \mathbb{R}\), \[ A= \begin{pmatrix} 0 & 1 && 0\\ \vdots && \ddots & 1\\ 0 &\cdots && 0\end{pmatrix},\;C= [1,0,\dots, 0]\text{ and }g(x,u)= \begin{pmatrix} g_1(x_1, u)\\ g_2(x_1, x_2,u)\\ \vdots\\ g_n(x, u)\end{pmatrix}. \] This observer has the expression \[ \dot{\widehat x}= A\widehat x+ g(\widehat x, u)- S^{-1}_\theta C^T(C\widehat x- y),\tag{1} \] where \(\widehat x\in \mathbb{R}^n\) is the state estimate, \(S_\theta\) is a symmetric positive definite matrix with \(\theta> 0\), the gain of the observer \(S^{-1}_\theta C^T\) is constant and can be decomposed as \(S^{-1}_\theta C^T= \Delta^{-1}_\theta K\), \(K= \text{col}(C^1_n, C^2_n,\dots, C^n_n)\), \(C^p_n= n!/(n- p)!p!\) and \[ \Delta_\theta= \text{diag}\Biggl[{1\over\theta}, {1\over\theta^2},\dots, {1\over\theta^n}\Biggr]. \] The authors of this paper propose an improvement of the above observer design. They purpose an observer of the form \[ \dot{\widehat x}= A\widehat x+ g(\widehat x,u)+ M^{-1}(\widehat x,u)[L(\widehat x, u)+ \Delta^{-1}_\theta K](y- C\widehat x),\tag{2} \] where \(K\) is a vector such that the matrix \(A-KC\) is stable, \(M(\widehat x,u)\) is \((n\times n)\)-matrix and \(L(\widehat x,u)\) a \((n\times 1)\)-vector which are functions of the partial derivative of \(g\) with respect to \(x\) evaluated at \(\widehat x\). This observer incorporates part of the nonlinearity \(g(x,u)\) in terms of its Jacobian. Consequently, unlike the gain of observer (1), the gain of the improved observer \(M^{-1}(\widehat x,u)[L(\widehat x,u)+ \Delta^{-1}_\theta K]\) is no longer constant and is a function of the state estimate. The observer (2) presents less transient oscillations and is more robust with regards to measurement noise than observer (1). A practical comparison between (1) and (2) is made via a simulation example dealing with a flexible joint mechanism. An extension of the design strategy is also presented for a more general class of nonlinear systems.
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