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IMA Journal of Mathematical Control and Information Advance Access originally published online on February 24, 2007
IMA Journal of Mathematical Control and Information 2007 24(4):551-566; doi:10.1093/imamci/dnm009
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© The author 2007. Published by Oxford University Press on behalf of the Institute of Mathematics and its Applications. All rights reserved.

Direct approximation of observer error linearization for nonlinear forced systems

Klaus Röbenack{dagger}

Fakultät Mathematik und Naturwissenschaften, Institut für Wissenschaftliches Rechnen, Technische Universität Dresden, 01062 Dresden, Germany

{dagger} Email: klaus{at}roebenack.de

In this paper, we discuss a generalization of the extended Luenberger observer. Our approach can be interpreted as an approximate error linearization. The design procedure which is formulated in terms of Lie derivatives and Lie brackets can easily be implemented using computer algebra software.

Keywords: observer canonical form; extended Luenberger observer; error linearization.


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