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Tools for observers based on coordinate augmentation

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Résumé

Designing a non linear observer often requires to immerse the system dynamics into a space of greater dimension. In order to avoid the difficult left inversion of the immersion, coordinate augmentation has been proposed in [9]. However, difficulties in this augmentation via continuous Jacobian completion, losses of observability, or the question of completeness of solutions may arise in practice. This paper illustrates with the help of a toy-system how to overcome them by using tools and tricks such as extending the image of a diffeomorphism or adding fictitious outputs.
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Dates et versions

hal-01250483 , version 1 (04-01-2016)

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  • HAL Id : hal-01250483 , version 1

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Pauline Bernard, Laurent Praly, Vincent Andrieu. Tools for observers based on coordinate augmentation. 2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015), Dec 2015, Osaka, Japan. ⟨hal-01250483⟩
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