Dynamic right coprime factorization for nonlinear systems
The authors consider a dynamic plant \(P\) from \(W_0\times U\) to \(Y\) described by \(y(t)= P(\xi_0, u(t))\), where \(W_0\) is a finite-dimensional linear space consisting of initial states \(\xi_0\), \(U\) is the input space and \(Y\) is the output space. They define a \(D\)-right factorization of \(P\), i.e., a pair \((N,D)\), \(N: S_N\times W\to Y\) and \(D: S_D\times W\to U\) being two stable dynamic operators, where \(D\) is invertible on \(W\) and \(D^{-1}: W_0\times U\to W\) and \(S_N\) and \(S_D\) are the initial spaces of \(N\) and \(D\), respectively, such that for every \(u(t)\in U\) and every \(\xi_0\in W_0\), \[ y(t)= P(\xi_0, u(t))= ND^{-1}(\xi_0, u(t))= N[D^{-1}(\xi_0, u(t))]. \] Moreover, if there are two stable operators \(S: Z_{20}\times Y\to W\) and \(R: Z_{10}\times Y\to W\), with \(R\) being invertible, such that for any initial conditions \(z_1(0)\) and \(z_2(0)\), the operator \(\widehat M: Z_{10}\times Z_{20}\times W\to W\) defined by \[ \widehat M(z_1(0), z_2(0), \xi(t)):= R(z_1(0), u(t))+ S(z_2(0), y(t)) \] is a unimodular operator, then \((N,D)\) is said to be a \(D\)-right coprime factorization of \(P\), where \(W\) is the linear space of the states \(\xi(t)\) of \(P\). The authors formulate a nonlinear observer design problem via the \(D\)-right factorization approach. The authors show that if \(P\) has a \(D\)-right coprime factorization, then \(P\) is observable. Afterwards, they consider a compensator \(Q\) with the inputs \(y= N_\xi(t)\) and \(u= D_\xi(t)\), by \(\zeta(t)= Q(t;\zeta(0),\xi(t))\). The authors define the notions of global, local, global \(L^2\) and local \(L^2\)-observer of the dynamic plant \(P\). The main results state that under certain conditions, the compensator \(Q\) is a local \(L^2\)-observer and if \(P\) has a \(D\)-right coprime factorization, then \(P\) has a local observer.
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