Observer Design For Non-Linear Systems

摘要

The past decade has proved an increasing interest in observers for nonlinear systems. This area is relevant in different contexts such as synchronization of dynamical systems, isolation and output feedback control. This paper consists of the contributions towards a new step i.e. the"New Directions in Nonlinear Observer Design". Here the notion of Contraction theory is used to design the observer. In this paper the example of Non-Holonomic system is opted and the non-linear observer is designed based on Contraction theory. Simulation is performed to validate the steps which are taken in design of observers.