LEADER 05362nam 22006855 450 001 9910483692103321 005 20200705174109.0 010 $a3-030-11146-6 024 7 $a10.1007/978-3-030-11146-5 035 $a(CKB)4100000007598460 035 $a(DE-He213)978-3-030-11146-5 035 $a(MiAaPQ)EBC5928046 035 $a(PPN)24376426X 035 $a(EXLCZ)994100000007598460 100 $a20190201d2019 u| 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aObserver Design for Nonlinear Systems /$fby Pauline Bernard 205 $a1st ed. 2019. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2019. 215 $a1 online resource (XI, 187 p. 76 illus., 9 illus. in color.) 225 1 $aLecture Notes in Control and Information Sciences,$x0170-8643 ;$v479 311 $a3-030-11145-8 320 $aIncludes bibliographical references and index. 327 $aChapter 1. Nonlinear Observability and the Observer Design Problem -- Part I: Normal Forms and Their Observers -- Chapter 2. Introduction -- Chapter 3. State-af?ne Normal Forms -- Chapter 4. Triangular Forms -- Part II: Transformation into a Normal Form -- Chapter 5. Introduction -- Chapter 6. Transformations into State-af?ne Normal Forms -- Chapter 7. Transformation into Triangular Forms -- Part III: Expression of the Dynamics of the Observer in the System Coordinates -- Chapter 8. Motivation and Problem Statement -- Chapter 9. Around Problem 8.1 : Augmenting an Injective Immersion into a Diffeomorphism -- Chapter 10. Around Problem 8.2 : Image Extension of a Diffeomorphism -- Chapter 11. Generalizations and Examples. 330 $aObserver Design for Nonlinear Systems deals with the design of observers for the large class of nonlinear continuous-time models. It contains a unified overview of a broad range of general designs, including the most recent results and their proofs, such as the homogeneous and nonlinear Luenberger design techniques. The book starts from the observation that most observer designs consist in looking for a reversible change of coordinates transforming the expression of the system dynamics into some specific structures, called normal forms, for which an observer is known. Therefore, the problem of observer design is broken down into three sub-problems: ? What are the available normal forms and their associated observers? ? Under which conditions can a system be transformed into one of these forms and through which transformation? ? How can an inverse transformation that recovers an estimate in the given initial coordinates be achieved? This organisation allows the book to structure results within a united framework, highlighting the importance of the choice of the observer coordinates for nonlinear systems. In particular, the first part covers state-affine forms with their Luenberger or Kalman designs, and triangular forms with their homogeneous high-gain designs. The second part addresses the transformation into linear forms through linearization by output injection or in the context of a nonlinear Luenberger design, and into triangular forms under the well-known uniform and differential observability assumptions. Finally, the third part presents some recently developed methods for avoiding the numerically challenging inversion of the transformation. Observer Design for Nonlinear Systems addresses students and researchers looking for an introduction to or an overview of the state of the art in observer design for nonlinear continuous-time dynamical systems. The book gathers the most important results focusing on a large and diffuse literature on general observer designs with global convergence, and is a valuable source of information for academics and practitioners. 410 0$aLecture Notes in Control and Information Sciences,$x0170-8643 ;$v479 606 $aControl engineering 606 $aVibration 606 $aDynamical systems 606 $aDynamics 606 $aElectrical engineering 606 $aSystem theory 606 $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010 606 $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036 606 $aCommunications Engineering, Networks$3https://scigraph.springernature.com/ontologies/product-market-codes/T24035 606 $aSystems Theory, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/M13070 615 0$aControl engineering. 615 0$aVibration. 615 0$aDynamical systems. 615 0$aDynamics. 615 0$aElectrical engineering. 615 0$aSystem theory. 615 14$aControl and Systems Theory. 615 24$aVibration, Dynamical Systems, Control. 615 24$aCommunications Engineering, Networks. 615 24$aSystems Theory, Control. 676 $a515.642 676 $a515.642 700 $aBernard$b Pauline$4aut$4http://id.loc.gov/vocabulary/relators/aut$01224841 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910483692103321 996 $aObserver Design for Nonlinear Systems$92843984 997 $aUNINA