New results on general observers for discrete-time nonlinear systems

In this paper, we establish that detectability is a necessary condition for the existence of general observers (asymptotic or exponential) for discrete-time nonlinear systems. Using this necessary condition, we show that there does not exist any general observer (asymptotic or exponential) for discrete-time nonlinear systems with real parametric uncertainty, if the state equilibrium does not change with the parameter values and if the plant output function is purely a function of the state. Next, using center manifold theory for maps, we derive necessary and sufficient conditions for the existence of general exponential observers for Lyapunov stable discrete-time nonlinear systems. As an application of this result, we show that for the existence of general exponential observers for Lyapunov stable discrete-time nonlinear systems, the dimension of the state of the general exponential observer should not be less than the number of critical eigenvalues of the linearization matrix of the state dynamics of the plant.     

Local observer design for nonlinear systems

This paper is a geometric study of the local observer design for nonlinear systems. First, we obtain necessary and sufficient conditions for local exponential observers for Lyaupnov stable nonlinear systems. We also show that the definition of local exponential observers can be considerably weakened for neutrally stable nonlinear systems. As an application of our local observer design, we consider a class of nonlinear systems with an input generator (exosystem) and show that for this class of nonlinear systems, under some stability assumptions, the existence of local exponential observers in the presence of inputs implies and is implied by the existence of local exponential observers in the absence of inputs.     

Observer design for discrete-time nonlinear systems

This paper is a geometric study of the observer design for discrete-time nonlinear systems. First, we obtain necessary and sufficient conditions for local exponential observers for Lyaupnov stable discrete-time nonlinear systems. We also show that the definition of local exponential observers can be considerably weakened for neutrally stable discrete-time nonlinear systems. As an application of our local observer design, we consider a class of discrete-time nonlinear systems with an input generator (exosystem) and show that for this class of nonlinear systems, under some stability assumptions, the existence of local exponential observers in the presence of inputs implies and is implied by the existence of local exponential observers in the absence of inputs.     

Designing SISO observers with unknown input

In this paper we investigate the observer design for Single-InputSingle-Output (SISO) systems with unknown input. We find thatthe design conditions proposed by several authors in the pastlead to unity relative degree of the plant and zeros of theplant in the open left half of the complex plane, for SISO systems.In other words an observer for a SISO plant with unknown inputcan be designed if and only if the plant is of unity relativedegree and the numerator of the transfer function is Hurwitz.These conditions have an interesting consequence in the contextof model reference adaptive control (MRAC) for the case of relativedegree one, in the sense that strictly real positive (SPR) conditionfor the model reference is not needed.     

Global observer design for nonlinear systems

This paper is a geometric study of the global observer design for nonlinear systems. Using the theory of foliations, we derive necessary and sufficient conditions for global exponential observers for nonlinear systems under some assumptions. Our proof for these necessary and sufficient conditions for global exponential observers if via defining two equivalence relations known as horizontal and vertical equivalence relations, and constructing two foliations known as horizontal and vertical foliations from these equivalence relations. Finally, as a corollary of our global theorem, we derive necessary and sufficient conditions for local exponential observers of critically Lyapunov stable nonlinear systems.     

General observers for discrete-time nonlinear systems

This paper is a geometric study of finding general exponential observers for discrete-time nonlinear systems. Using center manifold theory for maps, we derive necessary and sufficient conditions for general exponential observers for Lyapunov stable discrete-time nonlinear systems. As an application of our characterization of general exponential observers, we give a construction procedure for identity exponential observers for discrete-time nonlinear systems.     

Variable structure control systems: synthesis of scalar and vector systems by state and output feedback

Modern views are applied to examine synthesis of variable structure systems (VSS) for SISO and MIMO systems of general position in the presence of information on the full phase vector or only on the output vector. In the latter case we consider separately the cases of organizing a sliding mode in plant output coordinates and in arbitrary coordinates. The latter case requires the construction of asymptotic observers for linear systems with uncertainty in the parameters or in inputs, and the corresponding observation theory is sketched. Special attention is given to the case of so-called hyperoutput systems, i.e., multiply connected systems in which the number of outputs exceeds the number of inputs. For hyperoutput systems under fairly general conditions we can arbitrarily choose the observer dynamics, which is important for improving the performance of the control system as a whole. We show that the observer dynamics does not change the VSS stability.     

A counterexample for the global separation principle for discrete-time nonlinear systems

In the control systems literature, it is well known that a separation principle holds locally for nonlinear control systems, when exponential feedback stabilizers and exponential observers are used. In this paper, we present a counterexample to show that the global separation principle need not hold for nonlinear control systems. Our example demonstrates that global stability might be lost when an exponential observer is introduced into the nonlinear feedback loop associated with an exponentially stabilizing feedback control law.     

Asymptotic linearization and stabilization for a class of nonlinear systems

This paper presents a nonlinear output feedback which asymptotically linearizes the class of nonlinear, continuous-time, affine in the control systems having relative degree equal to the state space dimension. Moreover, we show that any set of eigenvalues can be assigned for the asymptotic closed-loop linear system. The controller is based on a nonlinear observer, presented in a previous paper, and on the linearizing state feedback proposed by Isidori and computed in the estimated state. The main result obtained is equivalent to the separation theorem in the linear case.This work was supported by the Italian Ministry for University and Scientific and Technological Research.     

Analytical failure-detection using adpative,secondary observers

The problem of designing analytical failure-detection systems, using adaptive observers, is addressed in this paper. Failure-detection systems can be applied to linear multi-input, multi-output systems and are related to the examination of then-dimensional observer error vector which carries the necessary information on possible failures. This approach leads toward the design of highly sensitive failure detection systems, obtaining a unique fingerprint for every possible failure (abrupt or soft). In order to keep the observer's false-alarm rate under a certain specified value, it is necessary to have an acceptable matching between the observer model and the system parameters. It is shown here that properly designed adaptive observers are able to detect abrupt changes in the system (actuator, sensor failures, etc.) with adequate reliability. Conditions for convergence for the adaptive observer algorithm are obtained. Good tracking performance with small observer output errors, coupled with accurate and fast parameter identification in both deterministic and stochastic cases, is obtained.Dedicated to G. LeitmannThis research was supported by a National Research Council Associateship at NASA Ames Research Center. The author is indebted to both NRC and NASA Ames Research Center.     

Full‐Order observer design for nonlinear complex large‐scale systems with unknown time‐varying delayed interactions

This article is concerned with the problem of state observer for complex large‐scale systems with unknown time‐varying delayed interactions. The class of large‐scale interconnected systems under consideration is subjected to interval time‐varying delays and nonlinear perturbations. By introducing a set of argumented Lyapunov–Krasovskii functionals and using a new bounding estimation technique, novel delay‐dependent conditions for existence of state observers with guaranteed exponential stability are derived in terms of linear matrix inequalities (LMIs). In our design approach, the set of full‐order Luenberger‐type state observers are systematically derived via the use of an efficient LMI‐based algorithm. Numerical examples are given to illustrate the effectiveness of the result. © 2014 Wiley Periodicals, Inc. Complexity 21: 123–133, 2015     

Global Convergence of a Control System by Means of an Observer

In this paper, we propose some sufficient conditions for the global stabilization of a class of nonlinear dynamic systems by using an estimated state feedback law given by an observer design.     

Methods for constructing observers for linear dynamical systems under uncertainty

We consider various methods for constructing asymptotic observers for linear stationary MIMO systems under an unknown external perturbation. Square systems (in which the number of measured outputs coincides with that of unknown inputs) are considered separately. For such systems we propose a method for constructing observers that yields either an asymptotic observer (for systems of maximal relative order) or an arbitrarily accurate observer. Hyperoutput systems (in which the number of measured outputs exceeds that of unknown inputs) are considered separately as well. For such systems we propose a method for synthesizing asymptotic observers of the phase vector.     

State observers for a class of multi-output nonlinear dynamic systems

This note considers the problem of observer design for a class of multi-output nonlinear systems. A new state observer design methodology for linear time-varying multi-output systems is presented. Furthermore, we show that the same methodology can be extended to a class of multi-output nonlinear systems. Some sufficient conditions for the existence of the proposed observer are obtained, which guarantee that the error of state estimation converges asymptotically to zero. An example is given to demonstrate the effectiveness of the proposed methodology.     

Real-time nonlinear global state observer design for solar heating systems

Nowadays it is important to investigate and develop solar water heating systems as an environmentally friendly technology. For this reason we introduce a physically-based nonlinear mathematical model that applies to a wide range of solar heating systems. In commercial solar heating systems not all state variables are monitored by direct measurements, since some of them may be technically difficult or expensive to measure. For a better monitoring and more efficient control of the system it may be useful to estimate the unmeasured state variables.As a novelty, we apply a global nonlinear state observer to a solar domestic water heating system. The state observer has been established relatively recently in the field of control theory. The state observer we worked out enables us to estimate the unmeasured state variables in real-time. This observer is global in the sense that it works starting from any initial state. A further contribution of this work is a rather general algorithm for the practical application of the real-time estimation process, and we also give bounds of the estimation error and a practical method to decrease this error.Comparing calculated and measured values for a real particular solar heating system, we justify the usability of the state observer and the estimation process.On the basis of measured data, we show that the nonlinear mathematical model corresponding to the applied nonlinear observer is more accurate than the linear model corresponding to the classical linear Luenberger-type observer, so it is reasonable to apply the nonlinear observer.     

无限时滞的非线性随机泛函微分方程

本文考虑了无限时滞的非线性随机泛函微分方程,作者在局部利普希茨条件和非线性增长条件下证明了全局解的存在唯一性,矩指数稳定性和渐近稳定性.     

小参数时变非线性系统的技术稳定性

分析一类含小参数的时变非线性系统关于给定状态约束集合的技术稳定性.根据向量微分比较原理和基本的单调性准则,利用向量V函数方法给出由系统系数表达的技术稳定性判据.并讨论了基于派生系统和线性化方法研究非线性系统技术稳定性的条件.另外,对于派生时变线性系统的指数稳定性给出了简单的代数判据.最后给出示例说明文中方法.     

非线性系统有理首次积分的不存在性和部分存在性

该文的目的是给出一般非线性系统存在和部分存在有理首次积分的判别准则. 作者给出系统存在有理首次积分的必要条件, 在此基础上进一步给出系统不存在其它有理首次积分(在函数独立的意义下)的判定准则.     

Full-order and reduced-order observers for one-sided Lipschitz nonlinear systems using Riccati equations

This paper aims to design full-order and reduced-order observers for one-sided Lipschitz nonlinear systems. The system under consideration is an extension of its known Lipschitz counterpart and possesses inherent advantages with respect to conservativeness. For such system, we first develop a novel Riccati equation approach to design a full-order observer, for which rigorous mathematical analysis is performed. Consequently, we show that the conditions under which a full-order observer exists also guarantee the existence of a reduced-order observer. A design method for the reduced-order observer that is dependent on the solution of the Riccati equation is then presented. The proposed conditions are easily and numerically tractable via standard numerical software. Furthermore, it is theoretically proven that the obtained conditions are less conservative than some existing ones in recent literature. The effectiveness of the proposed observers is illustrated via a simulative example.     

An exponential polynomial observer for synchronization of chaotic systems

In this paper, we consider the synchronization problem via nonlinear observer design. A new exponential polynomial observer for a class of nonlinear oscillators is proposed, which is robust against output noises. A sufficient condition for synchronization is derived analytically with the help of Lyapunov stability theory. The proposed technique has been applied to synchronize chaotic systems (Rikitake and Rössler systems) by means of numerical simulation.