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High-gain observers in nonlinear feedback control

Authors: Hassan K. Khalil, Laurent Praly, Int. J. Robust. Nonlinear Control, Vol 24 No 6, pp. 993–1015, April 2014 DOI: 10.1002/rnc.3051
In this document, we present the main ideas and results concerning high-gain observers and some of their applications in control. The introduction gives a brief history of the topic. Then, a motivating second-order example is used to illustrate the key features of high-gain observers and their use in feedback control. This is followed by a general presentation of high-gain-observer theory in a unified framework that accounts for modeling uncertainty, as well as measurement noise. The paper concludes by discussing the use of high-gain observers in the robust control of minimum-phase nonlinear systems.
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author = {Laurent Praly Hassan K. Khalil},
title = {High-gain observers in nonlinear feedback control},
journal = {Int. J. Robust. Nonlinear Control},
volume = {24},
number = {6},
pages = {993-1015},
year = {2014},