On observer design for nonlinear discrete-time systems
This paper deals with the problem of designing global state observers for discrete-time nonlinear systems by means of a transformation into a nonlinear observer canonical form, following the lines of the works of \textit{M. Brodmann} [Beobachterentwurf für nichlineare zeitdiskrete Systeme. VDI-Fortschrittsberichte Reihe 8, Nummer 416 . Dissertation, Universität Hannover, VDI-Verlag, Düsseldorf (1994)] and \textit{W. Lin} and \textit{C. Byrnes} [Syst. Control Lett. 25, No. 1, 31-40 (1995; Zbl 0877.93022)]. A feature of the observers here presented is that they use also past measurements of the system output for the estimate of the current state, as has been proposed by \textit{G. Ciccarella, M. Dalla Mora} and \textit{A. Germani} [Syst. Control Lett. 24, No. 4, 291--300 (1995; Zbl 0877.93007)], where a problem of robust local state observation was solved. The proposed approach allows to design several observers having different characteristics. All the observers presented have different robustness properties with respect to the presence of state noise, uncertainties in the model, and measurement noise.
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