Cascade high-gain observers in output feedback control

• Autores: H.K. Khalil
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 80, 2017, págs. 110-118
• Idioma: inglés
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• Resumen

  • Abstract High-gain observers proved to be a useful tool in the design of output feedback control of nonlinear systems. However, the observer faces a numerical challenge when its dimension is high. For an observer of dimension ρ and a high-gain parameter k , the observer gain is of the order of k ρ and the observer variables could be of the order of k ρ − 1 during the transient period. This paper presents a new high-gain observer that is based on cascading lower-dimensional observers with saturation functions in between them. The observer gain in the new observer is of the order of k and its variables are limited to be of the order of k during the transient period. It is shown that the cascade observer has properties similar to the standard one. In particular, a nonlinear separation principle is proved.