Nonlinear observers: A circle criterion design and robustness analysis (Q5949056)

Globally convergent observers are designed for a class of systems with monotonic nonlinearities. The design presented removes the global Lipschitz restriction and avoids high gain. It makes two restrictions that allow the observer error system to satisfy the well-known multivariable circle criterion. Robustness to unmodeled dynamics is achieved with a small gain assignment design, as illustrated on a jet engine compressor example.