State observation of nonlinear systems with delayed output measurements

Abstract

This paper considers the problem of state reconstruction for nonlinear systems when the output measurements are available for computation after a non negligible time delay. A state observation algorithm is here proposed and sufficient conditions are given that ensure global exponential convergence of the observed state. The proposed algorithm, when applied to linear systems, ensures exponential convergence for any size of the delay. The implementation of the observer is easy and computer simulations show its effectiveness. For the sake of simplicity, only the case of systems with one input and one output is treated in the paper.