Abstract
This paper presents some new results on observer design for Lipschitz nonlinear systems. First, full-order observer design is considered. Based on a well-known result on the stability of the estimated error dynamics, a design procedure is given using linear matrix inequalities. A different result on the stability, and corresponding design procedure, are also presented, with less conservatism. Then on the basis of the discussion on full-order observer design, reduced-order observer design is discussed. The existence of reduced-order observer shares the same conditions as a full-order one.
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