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Dynamic extension without inversion for observers

Abstract : Dynamic extension is useful in the design of observers for non linear systems. The idea is to immerse the given system dynamic into a bigger one having a structure more appropriate for building an observer. The main drawback of such a procedure is the need for inverting on-line an injective immersion. In this work we suggest a solution to overcome this difficulty based on an extension of the initial state space. One of the two crucial steps of our approach is the problem of continuous completion of a full column-rank matrix into an invertible one.
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Submitted on : Friday, January 30, 2015 - 4:56:44 PM
Last modification on : Thursday, August 4, 2022 - 5:13:56 PM


  • HAL Id : hal-01111652, version 1


Vincent Andrieu, Jean Bernard Eytard, Laurent Praly. Dynamic extension without inversion for observers. 53rd IEEE Conference on Decision and Control, Dec 2014, Los Angeles, United States. pp.878-883. ⟨hal-01111652⟩



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