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Non Lipschitz triangular canonical form for uniformly observable controlled systems

Pauline Bernard 1 Laurent Praly 1 Vincent Andrieu 2
1 CAS - Centre Automatique et Systèmes
2 LAGEP - Laboratoire d'automatique et de génie des procédés
Abstract : We study the problem of designing observers for controlled systems which are uniformly observable and differentially observable, but with an order larger than the system state dimension : we have only an injection, and not a diffeomorphism. We establish that they can be transformed into a triangular canonical form but with possibly non locally Lipschitz functions. Since the classical high gain observer is no longer sufficient, we review and propose other observers to deal with such systems, such as a cascade of homogeneous observers.
Keywords : uniform observability differential observability canonical observable form finite-time observers homogeneous observers exact differentiators
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Conference papers
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Submitted on : Tuesday, January 24, 2017 - 6:10:28 PM
Last modification on : Saturday, June 26, 2021 - 3:43:15 AM

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  • HAL Id : hal-01445381, version 1

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Pauline Bernard, Laurent Praly, Vincent Andrieu. Non Lipschitz triangular canonical form for uniformly observable controlled systems. NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems, Aug 2016, Monterey, United States. pp.511 - 516. ⟨hal-01445381⟩

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