In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by “time-dependent gains” in the “string of integrators between input and output”. Such class includes helicopters, quadrotors, robot arms and electric drives.
An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems / Isidori, A.; Pyrkin, A.; Borisov, O.. - In: AUTOMATICA. - ISSN 0005-1098. - 106:(2019), pp. 178-183. [10.1016/j.automatica.2019.04.043]
An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems
Isidori A.
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2019
Abstract
In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by “time-dependent gains” in the “string of integrators between input and output”. Such class includes helicopters, quadrotors, robot arms and electric drives.| File | Dimensione | Formato | |
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