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Journal Articles Systems and Control Letters Year : 2021

Reduced-Order Fast Converging Observers for Systems with Discrete Measurements and Measurement Error

Michael Malisoff
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  • PersonId : 1091208
Zhong-Ping Jiang
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  • PersonId : 1091209

Abstract

We provide novel reduced-order observer designs for continuous-time nonlinear systems with measurement error. Our first result applies to systems with continuous output measurements, and provides observers that converge in a fixed finite time that is independent of the initial state when the measurement error is zero. Our second result applies under discrete measurements, and provides observers that converge asymptotically with a rate of convergence that is proportional to the negative of the logarithm of the size of a sampling interval. Our observers satisfy an enhanced input-to-state stability property with respect to the measurement error, in which an overshoot term only depends on a recent history of the measurement error. We illustrate our observers using a model of a single-link robotic manipulator coupled to a DC motor with a nonrigid joint, and in a pendulum example.
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Dates and versions

hal-03144750 , version 1 (17-02-2021)

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Cite

Frederic Mazenc, Michael Malisoff, Zhong-Ping Jiang. Reduced-Order Fast Converging Observers for Systems with Discrete Measurements and Measurement Error. Systems and Control Letters, 2021, ⟨10.1016/j.sysconle.2021.104892⟩. ⟨hal-03144750⟩
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