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Reduced-order Dynamic Observer Error Linearization (proofs included)
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- Authors
- Issue Date
- 2010-02-25
- Keywords
- nonlinear observer ; error linearization ; system immersion
- Abstract
- For an unforced nonlinear single output system, we propose a modified version of
dynamic observer error linearization (DOEL) that is called reduced-order dynamic observer
error linearization (RDOEL). The approach offers a lower dimensional observer than DOEL,
and allows a complete constructive algorithm in contrast to DOEL when the auxiliary dynamics
is a chain of integrators. In this paper, we describe the initial stage of the algorithm for RDOEL
with integrators (RDOELI), and derive a complete solution to a simple case of DOEL through
the discussion of the relation among RDOELI, DOEL, and system immersion.
- Language
- English
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