Lie Transform Construction of Exponential Normal Form Observers
نویسندگان
چکیده
Motivated by a class of nonlinear regulator problems associated with systems that experience actuator failure, this work discusses the construction of nonlinear observers in normal form using a systematic and elegant method of transformation, namely Lie Transforms. It is shown how the transformation, which is the solution of a Homological Equation, and the observer gain matrix, which is a series of matrix homogenous polynomials, can be sequentially computed. An illustrative example is given and experience with using these observers is discussed.
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