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Output Feedback Stabilization for SISO Nonlinear Systems with an Observer in the Original Coordinates

Authors: Daniele Astolfi, Laurent Praly, 52nd IEEE Conference on Decision and Control (CDC 2013) pp. 5927 - 5932, DOI: 10.1109/CDC.2013.6760824
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We address the problem of designing a stabilizing output feedback, via the separation principle. Our aim is to propose a more usable technique. The system can be written in any coordinates and is supposed to be locally uniformly observable. Starting form a known state feedback we do one step of backtepping to have access to the input derivative. This is sufficient to design a high gain observer in the original coordinates that we modify to prevent peaking and constrain the estimated state to remain in the observability domain.
BibTeX:
@Proceedings{2017-06-21,
author = {Daniele Astolfi, Laurent Praly},
editor = {},
title = {Output Feedback Stabilization for SISO Nonlinear Systems with an Observer in the Original Coordinates},
booktitle = {52nd IEEE Conference on Decision and Control (CDC 2013)},
volume = {},
publisher = {},
address = {Florence},
pages = {5927 - 5932},
year = {2013},
abstract = {We address the problem of designing a stabilizing output feedback, via the separation principle. Our aim is to propose a more usable technique. The system can be written in any coordinates and is supposed to be locally uniformly observable. Starting form a known state feedback we do one step of backtepping to have access to the input derivative. This is sufficient to design a high gain observer in the original coordinates that we modify to prevent peaking and constrain the estimated state to remain in the observability domain},
keywords = {}}