Abstract
A state observation algorithm for nonlinear systems with a non negligible output delay is presented in this paper. The problem of output delay occurs not only when measurements are transmitted through a low-rate communication channel: in many application it is the measurement process itself that takes some time to be worked out. A state observation algorithm that reconstructs the present state on the basis of past measurements 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.
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