This paper presents a new approach for the construction of a state observer for nonlinear systems when the output measurements are available for computations after a non negligible time delay. The proposed observer consists of a chain of observation algorithms that reconstruct the system state at different delayed time instants (chain observer). Conditions are given that ensure global exponential convergence to zero of the observation error, whatever is the delay in the measurements. The implementation of the observer is easy and computer simulations show its effectiveness. Although only the case of systems with only one input and one output is treated in the paper, the extension of the approach to systems with multiple inputs and outputs does not present difficulties.
A new approach to state observation of nonlinear systems with delayed output
Manes C;
2002
Abstract
This paper presents a new approach for the construction of a state observer for nonlinear systems when the output measurements are available for computations after a non negligible time delay. The proposed observer consists of a chain of observation algorithms that reconstruct the system state at different delayed time instants (chain observer). Conditions are given that ensure global exponential convergence to zero of the observation error, whatever is the delay in the measurements. The implementation of the observer is easy and computer simulations show its effectiveness. Although only the case of systems with only one input and one output is treated in the paper, the extension of the approach to systems with multiple inputs and outputs does not present difficulties.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
