Modeling of Cylinder Gyroscopes and Observer Design for Nonlinear Oscillations Dr ing thesis

This doctoral thesis presents new results within modeling analysis and observer design for various types of nonlinear oscillating systems A nonlinear model of a cylinder gyroscope is proposed Through perturbation analysis and simulation the model is shown to be in good agreement with exper imental results Passivity properties and observer design of nonlinear oscillating systems are stud ied and contraction properties of a class of distributed parameter systems are analyzed Discretization schemes conserving structural properties such as con traction and energy conservation in connection with passivity are proposed Most of the results in this thesis have been presented at international conferences One part of the thesis has also been published in an international journal and one part has been published as a book chapter in an international book