Deterministic observation: theory and applications
ascending chain propertychemical engineeringdistillation columnexponential output observerfinite multiplicity analysisKalman-type observersLuenberger-type observersnonlinear systemsobservabilityoutput stabilizationphase-variable propertypolymerization reactorstate estimationstrong differential observabilityuniform canonical flaguniform infinitesimal observability
This is an extraordinary book, establishing a new paradigm in the observability theory of nonlinear systems. It is two-thread. The mathematical thread of the book is based on previous publications authored or co-authored by its authors [\textit{J.-P. Gauthier}, \textit{H. Hammouri} and \textit{S. Othman}, IEEE Trans. Autom. Control 37, No. 6, 875-880 (1992; Zbl 0775.93020); the authors, SIAM J. Control Optim. 32, 975-994 (1994; Zbl 0802.93008); the authors, Math. Z. 223, No. 1, 47-78 (1996; Zbl 0863.93008); \textit{P. Jouan} and \textit{J.-P. Gauthier}, J. Dyn. Control Syst. 2, 255-288 (1996; Zbl 0944.93026)]. The engineering thread is concerned with state estimation and output stabilization of a distillation column and a polymerization reactor presented in [\textit{F. Viel}, \textit{E. Busvelle} and \textit{J.-P. Gauthier}, Int. J. Control 67, No. 4, 475-505 (1997; Zbl 0866.93045) and Automatica 31, No. 7, 971-984 (1995; Zbl 0825.93539)]. The core of this book is mathematical. No one unacquainted with (differential) geometry (and topology) should ever enter chapters 2-7. The chemical engineering applications of the theory developed in chapter 8 might be accessible to control engineers. A great advantage for the sufficiently experienced reader is an appendix explaining necessary mathematical notions, and solutions to numerous exercises that essentially enrich the contents of the book, collected at its end. The mathematical bibliography of the book consists of most fundamental works; control theoretic references remain rather eclectic.NEWLINENEWLINENEWLINEThe subject of this book is nonlinear control systems of the form NEWLINE\[NEWLINE\begin{cases} \dot x= f(x,u),\\y= h(x,u),\end{cases}\tag{\(\Sigma\)}NEWLINE\]NEWLINE defined on a differentiable manifold \(X\), with controls \(u\in U\), where \(U= \mathbb{R}^{d_u}\) or \(U= I^{d_u}\), \(I\) a closed interval, and with outputs \(y\in \mathbb{R}^{d_y}\). The control functions are assumed bounded measurable with values in \(U\). The data defining \(\Sigma\) are in the smooth \((C^r, C^\infty)\) or analytic class. The uncontrolled case \(U= \emptyset\) is also considered.NEWLINENEWLINENEWLINEIn chapter 2 of the book, five observability concepts are introduced: observability (corresponding to what is known classically as uniform observability), uniform infinitesimal observability, differential observability, strong differential observability and the phase-variable representation. The last concept means a possibility of computing a time derivative of the output of a given order on the basis of output derivatives of lower orders and input derivatives. Two different situations are considered: \(d_y\leq d_u\) (chapter 3) and \(d_y> d_u\) (chapter 4). In the former case uniform infinitesimal observability appears to be equivalent to the existence of a uniform canonical flag of the system. This means in particular that uniform inifinitesimal observability in systems whose number of inputs exceeds the number of outputs is very non-typical. In the latter case strong differential observability is generic, moreover, it is shown that any system can be approximated by an observable system with analytic inputs.NEWLINENEWLINENEWLINEFor a system whose initial-state-output trajectory map is singular, the phase-variable property becomes essential (chapter 5). For uncontrolled systems the phase-variable property can be established by a finite multiplicity analysis of an observation map. For a controlled system this property holds provided that the system is differentiably observable and satisfies the so-called ascending chain property.NEWLINENEWLINENEWLINEChapter 6 of the book is devoted to designing output and state observers for state estimation and dynamic output stabilization purposes. Two types of (high-gain) observers are discussed: Luenberger-type observers (constant correction gain), and Kalman-type observers (adjustable correction gain). Exponential Luenberger state observers have been designed for uniformly observable systems in the observability canonical form. Exponential Luenberger output observers are proposed for systems having the phase-variable representation. Similarly, for observable single-input affine control systems, the extended Kalman filter has been designed as an exponential state observer. For systems having the phase-variable representation, the extended Kalman filter is proved to be an exponential output observer.NEWLINENEWLINENEWLINEIn chapter 7 the Luenberger and Kalman-type observers are used to achieve a semi-global asymptotic output stabilization. Both for systems having a uniform canonical flag as well as for systems endowed with the phase-variable property, it has been established that, if a system can be stabilized by a state feedback, it can also be stabilized via observers, i.e. using only the output information.NEWLINENEWLINENEWLINEThe theory developed in the book is applied in chapter 8 to two chemical engineering problems: state (and feed) estimation as well as output stabilization of a distillation column and of a polymerization reactor. Solutions to these problems show clearly and convincingly the practical significance of the new paradigm set out in this book.
- High gain observers with updated gain and homogeneous correction termsstar, open
- Second-order observers for second-order distributed parameter systems in \(\mathbb R^2\)
- Time scaling for observer design with linearizable error dynamics.
- A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time
- Observer design based on immersion technics and canonical form
- Dissipative observers for discrete-time nonlinear systems
- Extended high gain observer design for a class of MIMO non-uniformly observable systems
- On the triangular canonical form for uniformly observable controlled systems
- Observer design for a class of uncertain nonlinear systems with sampled outputs -- application to the estimation of kinetic rates in bioreactors
- Relaxing the conditions for parameter estimation-based observers of nonlinear systems via signal injection
- Low-power peaking-free high-gain observers
- Filtered high gain observer for a class of uncertain nonlinear systems with sampled outputs
- Design of local observers for autonomous nonlinear systems not in observability canonical form
- Newton-like algorithms for the inversion of switched maps
- Nonlinear system fault diagnosis based on adaptive estimation
- Combining interval analysis with flatness theory for state estimation of sailboat robots
- Finite singularities of nonlinear systems. Output stabilization, observability, and observers
- A dynamical interval Newton method
- On generation of virtual outputs via signal injection: application to observer design for electromechanical systems
- A way to model stochastic perturbations in population dynamics models with bounded realizations
- On the convergence of the unscented Kalman filter
- On the use of low-pass filters in high-gain observers
- An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems
- Hybrid implementation of observers in plant's coordinates with a finite number of approximate inversions and global convergence
- On Hamilton-Jacobi approaches to state reconstruction for dynamic systems
- Adaptive state observers using dynamic regressor extension and mixing
- Lyapunov and minimum-time path planning for drones
- Boundary output feedback of second-order distributed parameter systems
- Simple centrifugal incentives in spatial competition
- Observers for a non-Lipschitz triangular form
- Adaptive observers as nonlinear internal models
- Non-resonance conditions for uniform observability in the problem of nonlinear output regulation
- Nonuniform in time state estimation of dynamic systems
- Stabilization of nonlinear dynamic systems using the system state estimates made by the asymptotic observer
- Time-varying increasing-gain observers for nonlinear systems
- On multi-valued observers for a class of single-valued systems
- Sampled-data observers for delay systems and hyperbolic PDE-ODE loops
- Dynamic output stabilization of control systems: an unobservable kinematic drone model
- Design of high-gain observers based on sampled measurements via the interval arithmetic
- Design of observers with gain adaptation for systems with disturbances: an orbital symmetry-based approach
- Observability is sufficient for the design of globally exponentially stable state observers for state-affine nonlinear systems
- Observability under sampling for nonlinear systems
- Classical Electoral Competition Under Approval Voting
- A hybrid scheme for reducing peaking in high-gain observers for a class of nonlinear systems
- Manifold learning for organizing unstructured sets of process observations
- On the genericity of the observability of controlled discrete-time systems
- Output feedback stabilization of nonlinear networked control systems with non‐decreasing nonlinearities: a matrix inequalities approach
- Endogenous party platforms: `stochastic' membership
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- Deterministic output noise effects in sliding mode observation
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- Sufficient conditions on the existence of switching observers for nonlinear time-varying systems
- Unknown-input observability with an application to prognostics for waste water treatment plants
- High-gain observers for nonlinear systems with trajectories close to unobservability
- Hybrid dead-beat observers for a class of nonlinear systems
- A high gain observer with updated gain for a class of MIMO non-triangular systems
- Nonlinear observers for locally uniformly observable systems
- On determining unknown functions in differential systems, with an application to biological reactors.
- Global exponential observers for two classes of nonlinear systems
- On the design of fault detection filters with game-theoretic-optimal sensitivity
- Expressing an Observer in Preferred Coordinates by Transforming an Injective Immersion into a Surjective Diffeomorphism
- Genericity of the Strong Observability for Sampled Systems
- Observation and identification tools for non-linear systems: application to a fluid catalytic cracker
- Condorcet winners on median spaces
- Observing complexity, seeing simplicity
- Avoiding Observability Singularities in Output Feedback Bilinear Systems
- New perspectives on output feedback stabilization at an unobservable target
- Design of a robust finite-time observer for a class of uncertain nonlinear systems
- High gain observer for a class of nonlinear systems with coupled structure and sampled output measurements: application to a quadrotor
- State estimation for a class of uncertain nonlinear systems: a finite-time observer approach
- Detectability Conditions and State Estimation for Linear Time-Varying and Nonlinear Systems
- Some control observation problems and their differential algebraic partial solutions
- High-gain extended Kalman filter for continuous-discrete systems with asynchronous measurements
- Observability. A new theory based on the group of invariance
- A constructive globally convergent adaptive speed observer for port-Hamiltonian mechanical systems with non-holonomic constraints
- Adaptive-gain observers and applications
- Asymptotic analysis and observer design in the theory of nonlinear output regulation
- A reduction paradigm for output regulation
- Non-uniform in time robust global asymptotic output stability for discrete-time systems
- On stabilization of nonlinear systems under data rate constraints using output measurements
- Robust stability of input-output systems with initial conditions
- Strong differential observability for sampled-time systems
- Stabilization of partially linear composite stochastic systems via stochastic Luenberger observers
- A biomechanical inactivation principle
- Output feedback stabilization of non-uniformly observable systems
- Observer design with exponential time-varying gain for Takagi-Sugeno fuzzy systems with continuous and aperiodic sampled outputs
- Observer design via interconnections of second‐order mixed sliding‐mode/linear differentiators
- Immersion and invariance‐based extended state observer design for a class of nonlinear systems
- Further remarks on KKL observers
- The directional anti-derivative about a point: existence conditions and some applications
- Minimizing sequences for a family of functional optimal estimation problems
- Back-and-forth nudging for the quasi-geostrophic ocean dynamics with altimetry: theoretical convergence study and numerical experiments with the future SWOT observations
- Linear-in-parameters neural adaptive observers for nonlinear systems in observability canonical form
- Local sliding mode inversion algorithms and state observers with space applications
- On the performance of high-gain observers with gain adaptation under measurement noise
- Dominant-pole placement for predictor synthesis
- Designing a completely distributed observer with robustness against disturbances
- Algebraic approaches for the design of simultaneous observers for linear systems
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