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Observer design for continuous-time dynamical systems
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DOI：10.1016/j.arcontrol.2021.11.002.png)
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Abstract
En 中文
We review the main design techniques of state observer design for continuous-time dynamical systems, namelyalgorithms which reconstruct online the full information of a dynamical process on the basis of partiallymeasured data. Starting from necessary conditions for the existence of such asymptotic observers, we classifythe available methods depending on the detectability/observability assumptions they require. We show howeach class of observer relies on transforming the system dynamics in a particular normal form which allowsthe design of an observer, and how each observability condition guarantees the invertibility of its associatedtransformation and the convergence of the observer. Finally, some implementation aspects and open problem sare briefly discussed
Keywords:
Observer design
Observability
Detectability
Normal forms
Kalman observers
Kalman-like observers
Observability Gramian
Extended Kalman filter
High-gain observers
Homogeneous observers
Triangular forms
KKL observers
Nonlinear Luenberger observers
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