Summary: Observer Design for Nonlinear Systems using Linear Approximations
C. Navarro Hernandez, S.P. Banks and M. Aldeen
Department of Automatic Control and Systems Engineering,
University of Sheffield, Mappin Street,
Sheffield S1 3JD.
Dept of Electrical and Electronic Engineering
The University of Melbourne
Parkville VIC 3010
Keywords: Observer, Nonlinear Systems, Linear Approximations.
Abstract: In this paper we present the design of an observer for nonlinear systems. The
nonlinear system is represented as a sequence of linear time varying approximations and
the convergence of the sequence is shown. In this way, we can use the classical
techniques for the design of linear observers.
There exist several approaches to the design of observers for nonlinear systems,
including the separation of the nonlinear system into a linear part and a nonlinear
perturbation of the system with a bounded condition , the use of Lie derivatives and
the inversion of the Jacobian of a coordinate transformation to obtain the gain of the