Nonlinear observer design via passivation of error dynamics

  title={Nonlinear observer design via passivation of error dynamics},
  author={Hyungbo Shim and Jin Heon Seo and Andrew R. Teel},
We present a new design scheme of nonlinear state observers (global, full order, asymptotic observers) through passivation of the error dynamics. In order to consider passivity of the error dynamics for the observer problem, we place a conceptual input and output on the generalized error dynamics which also includes the plant, and the strictness of passivity is extended with respect to a set in which the estimation error becomes zero. Then, output feedback passivation for the error dynamics… CONTINUE READING
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