NONLINEAR SAMPLED-DATA OBSERVER DESIGN VIA APPROXIMATE DISCRETE-TIME MODELS AND EMULATION

https://doi.org/10.3182/20050703-6-CZ-1902.00656Get rights and content

Abstract

We study observer design for sampled-data nonlinear systems using two approaches: (i) the observer is designed via an approximate discrete-time model of the plant; (ii) the observer is designed based on the continuous-time plant model and then discretized for sampled-data implementation (emulation). In each case we present Lyapunov conditions under which the observer design guarantees semiglobal practical convergence for the unknown exact discrete-time model. The semiglobal region of attraction is expanded by decreasing the sampling period. The practical convergence set is shrunk by decreasing either the sampling period, or a modelling parameter which refines the accuracy of the approximate model.

Keywords

Observers
Sampled-data systems
Nonlinear systems

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1

The work of both authors was supported by the Australian Research Council under the Discovery Grants Scheme while the first author was visiting The University of Melbourne. The work of the first author was also supported in part by NSF, under grant ECS-0238268.

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