Nonlinear Observer Design for Mechatronic Systems via LMIs
Abstract
This paper presents an observer design for discrete-time nonlinear descriptor systems via convex techniques. The approach is based on a recently appeared technique for exact factorization of the observation error, in order to overcome the well-known problem of unmeasurable scheduling variables within the convex observation; thus, the use of Lipschitz constants, differential mean value theorem, or robust techniques is avoided. As a result, the designing conditions are cast in terms of linear matrix inequalities and efficiently solved via convex optimization techniques. The effectiveness of the proposal is illustrated in the Furuta pendulum.
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