Comparative study of non-linear state-observation techniques

B. L. Walcott, M. J. Corless, S. H. Żak

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278 Scopus citations


This paper contains a comparative study of four techniques for observing the slates of non-linear systems. The first technique examined is inspired by Bestle and Zeitz, and ICrener and Respondek, In this method a non-linear transformation is found that brings the system into a canonical form, from where observer design is facilitated. The second technique is attributable to Thau. In this method, the error between the system's true state and the output of the observer is shown to be asymptotically convergent to zero provided that an additional assumption is valid. The third technique is due to Baumann and Rugh. In this method, extended or pseudolinearization of the error differential equation about a family of equilibrium points results in an observer design such that the eigenvalues of the linearized error equation are locally invariant. Finally, techniques from variable-structure systems are utilized to design an observer that yields an exponentially decaying error like Thau's observer, but, unlike Thau's, does not incorporate the non-linearities of the system into the observer design. An example illustrating the performance of the four techniques is included.

Original languageEnglish
Pages (from-to)2109-2132
Number of pages24
JournalInternational Journal of Control
Issue number6
StatePublished - Jun 1987

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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