Abstract
A non-linear canonical form observer design approach for multi-input multi-output systems , y = h ( x , u ), with linearizable error dynamics is proposed in the paper. The method involves a transformation of the original non-linear system in a reduced generalized observer canonical form (RGOCF) by a non-linear state transformation. The name reduced comes from the fact that this non-linear canonical form has a reduced dependency on derivatives of the inputs. Necessary and sufficient conditions for transformability are derived and a transformation algorithm based on those conditions is developed. The non-linear observer is firstly designed in the canonical coordinates of the RGOCF and then it is presented in the original and observability coordinates. A final example including simulation is given for illustration.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.