Variants of nonlinear normal form observer design
This paper presents a review of observer design methods for nonlinear observed dynamics of the form \[ \dot x=f(x),\;y=h(x), \] derived within the normal form approach. First, a single output case is studied, and the observer normal form method is discussed that leads to the design of an observer with linear error dynamics. The existence of the observer normal form depends on fulfilling two conditions: a rank conditions of the observability map, and a commutativity condition (the zeroing of the Lie bracket) of certain vector fields. These conditions are next relaxed yielding the concept of a continuous observer (a coordinate transformation producing the observer normal form is a differentiable homeomorphism, not necessarily with a differentiable inverse, so the rank condition may not hold) or to the extended Luenberger observer whose existence does not need the commutativity condition. Finally, a multi-output case is handled by introducing a block-triangular observer, based on a block-triangular observer normal form. For the entire collection see [Zbl 0915.00063].
- Observer design using a generalized time-scaled block triangular observer form
- Observability analysis by Poincaré normal forms
- A block triangular nonlinear observer normal form
- Extended output depending normal form
- Observer design using normal forms: analytical approaches and extended linearization
- A block triangular observer form for non-linear observer design
- On nonlinear continuous observers
- Decentral nonlinear observer design using a block-triangular form
- Approximate high-gain observers for non-Lipschitz observability forms
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