Homogeneous Approximation, Recursive Observer Design, and Output Feedback
Optimization and Control
2009-03-03 v1
Abstract
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity in the bi-limit). Exploiting this extension, we give several results concerning stability and robustness for a homogeneous in the bi-limit vector field. The second tool is a new recursive observer design procedure for a chain of integrator. Combining these two tools, we propose a new global asymptotic stabilization result by output feedback for feedback and feedforward systems.
Cite
@article{arxiv.0903.0298,
title = {Homogeneous Approximation, Recursive Observer Design, and Output Feedback},
author = {Vincent Andrieu and Laurent Praly and Alessandro Astolfi},
journal= {arXiv preprint arXiv:0903.0298},
year = {2009}
}