Canonical form observers for non-integrable nonlinear single-output systems using flat inputs and dynamic compensators

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Contributors

Abstract

We investigate the design of observers for non-integrable nonlinear single-output systems, i.e., systems that cannot be transformed into observer canonical form. Inspired by flat input based methods, we use dynamic compensation to alter the original dynamics such that the modified system can be transformed into observer canonical form. We construct a canonical form observer for the modified system. Utilizing the compensators, we can then deduce the state of the original dynamics. The method is demonstrated on well-known non-integrable examples.

Details

Original languageEnglish
Title of host publication2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings
EditorsLavinia Ferariu, Mihaela-Hanako Matcovschi, Florina Ungureanu
Pages31-38
Number of pages8
Publication statusPublished - 2021
Peer-reviewedYes

External IDs

Scopus 85123280273

Keywords

Keywords

  • differential flatness, flat inputs, nonlinear systems, observer design, observer error linearization