비선형 저차화 관측기의 설계기법 및 구보시스템에의 적용

초록

In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers.

키워드