In this paper we propose a new robust scheme of nonpeaking nonlinear observers. The observation strategy is issued from differential algebra where the unmeasured states are given as outputs of a time-varying linear differentiator that guarantees robustness against measurement errors. We show that for a certain initial condition, the n-dimensional differentiator does not exhibit the peaking phen...

In this paper, we propose an observer-based fuzzy adaptive control scheme for a class of multiple-input-multiple-output (MIMO) nonlinear non-affine systems with uncertainty and unknown state derivative. The proposed approach combines the recurrent-type fuzzy logic system (RFLS) and nonlinear observer to deal with the tracking control problem. It adopts the RFLS to approximate nonlinear unknown ...

Nonlinear Model Predictive Control (NMPC), generally based on nonlinear state space models, needs knowledge of the full state for feedback. However, in practice knowledge of the full state is usually not available. Therefore, an asymptotically stabilizing MPC scheme for a class of nonlinear discrete-time systems is proposed, which only requires knowledge of the output of the system for feedback...

Abstract: This paper presents a case study how to apply the recently proposed TP model transformation technique, that has been introduced for nonlinear statefeedback control design, to nonlinear observer design. The study is conducted through an example. This example treats the question of observer design to the prototypical aeroelastic wing section with structural nonlinearity. This type of mo...

This paper advocates disturbance observer based control (DOBC) for uncertain nonlinear systems. Within this framework, a nonlinear controller is designed based on the nominal model in the absence of disturbance and uncertainty where the main design specifications are to stabilize the system and achieve good tracking performance. Then a nonlinear disturbance observer is designed to not only esti...

This paper presents a design of dynamic feedback control based on observer for a class of large scale Lipschitz nonlinear systems. The use of Differential Mean Value Theorem (DMVT) is to introduce a general condition on the nonlinear functions. To ensure asymptotic stability, sufficient conditions are expressed in terms of linear matrix inequalities (LMIs). High performances are shown through r...

Two adaptive nonlinear friction compensation schemes are proposed for second-order nonlinear mechanical systems with a partially known nonlinear dynamic friction model to achieve asymptotic position and velocity tracking. The first scheme has auxiliary filtered states so that a simple open-loop observer can be used. The second one has a dual-observer structure to estimate two different nonlinea...

Unknown input observers (UIOs) are observers that have stable error dynamics that are independent of unknown inputs. This paper studies such observers for nonlinear systems, and shows that the error dynamics for a nonlinear UIO has the same structure as the error dynamics of a nonlinear observer without unknown inputs. This result is first used to provide synthesis inequalities for UIOs for a c...

This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer estimation errors is analyzed and some conditions are introduced to guarantee finite time convergence of estimation errors. Finally, in a numerical example, effect...

A new systematic approach to state of charge (SoC) observer design for battery cells is presented. It is based on a purely data driven model and a nonlinear observer constructed from it. As a key novelty, a unified and generic framework for model generation (i.e. design of experiments, nonlinear model structure) and observer parametrisation is presented. An integral part of SoC observers in hyb...