A state observer for nonlinear systems and its application to ball and beam system

In this paper, we present a state observer for single-input/single-output nonlinear systems which fail to have well defined relative degree. It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree n. The proposed observer utilizes the coordinate c...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2000-05, Vol.45 (5), p.968-973
Main Authors: Jo, N.H., Seo, J.H.
Format: Article
Language:English
Subjects:
Adaptive control
Approximation
Beams (structural)
Control theory
Dynamical systems
Eigenvalues and eigenfunctions
Estimation theory
Least squares methods
Linear systems
Multidimensional systems
Nonlinear dynamics
Nonlinear systems
Observers
Simulation
State observers
Stochastic processes
Transforms
Tuning
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Summary:In this paper, we present a state observer for single-input/single-output nonlinear systems which fail to have well defined relative degree. It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree n. The proposed observer utilizes the coordinate change which transforms a system into an approximate normal form. The proposed method is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with other local observers.
ISSN:0018-9286
1558-2523
DOI:10.1109/9.855562