Nonlinear Observer Design using Implicit System Descriptions
نویسنده
چکیده
Observers are usually formulated as explicit systems of di erential equations and implemented using standard ODE solvers. In this paper, we show that there can be advantages in formulating the observer as a DAE (Di erential-Algebraic Equation). We review the general idea of DAE observer design of [10]. We give two special normal forms for which DAE observer design yields an observer with linear error dynamics. The idea to use DAE observer normal forms is introduced on index one DAE observers and then extended to index two Hessenberg DAEs. This allows us to enlarge the class of nonlinear systems for which linear observer error dynamics can be achieved.
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