A semi-global finite-time convergent observer for a class of nonlinear systems with bounded trajectories

This paper considers the problem of designing finite-time convergent observers for a class of lower-triangular nonlinear systems with bounded solution trajectories. Using the homogeneous domination approach, we construct an observer with homogeneous structure and saturation design, whose states will converge to the real states in a finite time by adjusting the observer gain. Several application examples of this finite-time convergent observer are discussed in this paper.