Output Feedback Stabilization for SISO Nonlinear Systems with an Observer in the Original Coordinates

Daniele Astolfi (1, 2) , Laurent Praly (1)

1 CAS - Centre Automatique et Systèmes
2 CASY - DEI

We address the problem of designing a stabilizing output feedback, via the separation principle. Our aim is to propose a more usable technique. The system can be written in any coordinates and is supposed to be locally uniformly observable. Starting form a known state feedback we do one step of backtepping to have access to the input derivative. This is sufficient to design a high gain observer in the original coordinates that we modify to prevent peaking and constrain the estimated state to remain in the observability domain

Domaines: Automatique / Robotique

Daniele Astolfi, Laurent Praly. Output Feedback Stabilization for SISO Nonlinear Systems with an Observer in the Original Coordinates. 52nd IEEE Conference on Decision and Control (CDC 2013), Dec 2013, Florence, Italy. pp.5927 - 5932, ⟨10.1109/CDC.2013.6760824⟩. ⟨hal-01544650⟩