On Metric Observers for Nonlinear Systems


On Metric Observers for Nonlinear Systems, W. Lohmiller and J.-J.E. Slotine, IEEE Int. Conf. on Control Applications, Dearborn, MI, 1996.


While observer design is well understood and widely used for linear systems, extensions to nonlinear systems have lacked generality. Motivated by fluid dynamics, this paper shows that the use of so-called Euler coordinates in general nonlinear, non-autonomous systems allows major simplifications such as a superposition principle, and leads to new analysis and design methods. An observer's dynamic equations may be systematically shaped through a coordinate transformation based on the available measurements, rather than by explicit error feedback. This in turn leads to new deterministic observer design techniques for nonlinear non-autonomous systems.

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