An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems

• Autores: Alberto Isidori, Anton A. Pyrkin, Oleg V. Borisov
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 106, 2019, págs. 178-183
• Idioma: inglés
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• Resumen

  • In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by “time-dependent gains” in the “string of integrators between input and output”. Such class includes helicopters, quadrotors, robot arms and electric drives.