Robust Observer Design for a Class of Nonlinear Systems Using the System Internal Dynamics Structure

In this paper, an observer design strategy is presented for a class of nonlinear systems with structural uncertainty. The modern geometric approach is exploited to simplify the system structure. Then, based on the Lyapunov direct method, a robust observer is proposed using the system internal dynamics structure and the distribution of the uncertainty structure. The bound on the uncertainty, which is employed in the observer design, is allowed to be nonlinear and have a more general form. Simulation shows that the proposed approach is effective.