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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