50th IEEE Conference on Decision and Control and European Control Conference
Sprache des Tagungstitel:
This contribution is dedicated to the state observer
design for a certain class of nonlinear dynamic systems. Moreover
this approach is intended as an extension to many known
controller design methods, where almost all state variables are
necessary for the evaluation of the control law, but only a part
of the state vector can be measured. The immeasurable parts
of state variables have to be estimated for the implementation.
In this paper we depart from a given control law, which leads
to a (uniformly) asymptotically stable closed loop system. A
dynamic extension of the controller by means of an observer
provides an estimation for the immeasurable states, but the
observer does not compromise the stability of the overall system
such that the combination of the nonlinear controller and
the state observer is also an asymptotically stable system.
During the observer design a linear inhomogeneous set of
partial differential equations (pde) have to be solved and we
state conditions for the solvability of the pde?s, which can
be checked in advance in order to get an information, if the
pde?s are solvable. The observer design procedure is presented
for the unstable mechanical benchmark example inertia wheel
pendulum and the permanent magnet synchronous drive.