A state observer for nonlinear systems and its application to ball and beam system

被引：37
|
作者：
Jo, NH [1 ]
Seo, JH [1 ]
机构：
[1] Seoul Natl Univ, Sch Elect Engn, Seoul 151742, South Korea
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 05期
关键词：
approximate normal form; coordinate change; nonlinear system; state observer;
D O I：
10.1109/9.855562
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a state observer for single-input/single-output nonlinear systems which fail to have well defined relative degree. It is shown that there exists a local state observer for a nonlinear system if it has robust relative degree rr. The proposed observer utilizes the coordinate change which transforms a system into an approximate normal form. The proposed method is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with other local observers.
引用
收藏
页码：968 / 973
页数：6
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