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Non Lipschitz triangular canonical form for uniformly observable controlled systems

Authors: P. Bernard, L. Praly, V. Andrieu, NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems, pp. 511 - 516, August 23-25, 2016, Monterey, DOI: 10.1016/j.ifacol.2016.10.214
We study the problem of designing observers for controlled systems which are uniformly observable and differentially observable, but with an order larger than the system state dimension : we have only an injection, and not a diffeomorphism. We establish that they can be transformed into a triangular canonical form but with possibly non locally Lipschitz functions. Since the classical high gain observer is no longer sufficient, we review and propose other observers to deal with such systems, such as a cascade of homogeneous observers.
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BibTeX
@Proceedings{2017-01-24,
author = {P. Bernard, L. Praly, V. Andrieu},
editor = {},
title = {Non Lipschitz triangular canonical form for uniformly observable controlled systems},
booktitle = {NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems},
volume = {},
publisher = {},
address = {Monterey},
pages = {511 - 516},
year = {2016},
abstract = {We study the problem of designing observers for controlled systems which are uniformly observable and differentially observable, but with an order larger than the system state dimension : we have only an injection, and not a diffeomorphism. We establish that they can be transformed into a triangular canonical form but with possibly non locally Lipschitz functions. Since the classical high gain observer is no longer sufficient, we review and propose other observers to deal with such systems, such as a cascade of homogeneous observers.},
keywords = {uniform observability, differential observability, canonical observable form, finite-time observers, homogeneous observers, exact differentiators}}
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