Abstract
This paper studies observers for multivariable systems with nonlinear components and unknown disturbance inputs. In order to apply procedures dedicated to linear systems, the nonlinearity is first modeled as an unknown input variable and an unknown input observer for multivariable linear systems is studied. An integrated approach is proposed from modeling to observer synthesis with the bond graph approach. This result is used to provide a methodology similar to the one applied for the classical input-output decoupling problem in control theory. An application is proposed and simulation results prove the validity of the approach.
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