Homogeneous approximations and local observer design

  title={Homogeneous approximations and local observer design},
  author={Tomas Menard and Emmanuel Moulay and Wilfrid Perruquetti},
Abstract. This paper is concerned with the construction of local observers for nonlinear systems without inputs, satisfying an observability rank condition. The aim of this study is, rst, to de ne an homogeneous approximation that keeps the observability property unchanged at the origin. This approximation is further used in the synthesis of a local observer which is proven to be locally convergent for Lyapunov-stable systems. We compare the performance of the homogeneous approximation observer… CONTINUE READING