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

页码：968 / 973

页数：6

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