ar X iv : 0 90 3 . 02 98 v 1 [ m at h . O C ] 2 M ar 2 00 9 HOMOGENEOUS APPROXIMATION RECURSIVE OBSERVER DESIGN AND OUTPUT FEEDBACK
نویسنده
چکیده
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The second tool is a new recursive observer design procedure for a chain of integrator. Combining these two tools we propose a new global asymptotic stabilization result by output feedback for feedback and feedforward systems.
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