입출력선형화 상태변환을 이용한 비선형 시스템의 저차 관측기 설계

초록

In this paper, we present a reduced-order observer for a class of nonlinear sysetms based on the input output linearization. While the most results in the literature presented full-order nonlinear observer, we proposed a procedure for the design of reduced-order observer for nonlinear systems that are not necessarily observable. Assuming that there exists a global observer for internal dynamics and that certain functions are globally Lipschitz, we can design a global reduced-order observer. An illustrative example is included that demonstrate the design procedure of the proposed reduced-order observer.

키워드