LMI-Based Observer for a Class of Nonlinear Systems

摘要

This paper introduced a nonlinear observer for quadratic maximal order polynomial systems. A link is made between robust stabilization techniques of systems with structured uncertainties and nonlinear observer design for the considered nonlinear systems. The observer stability problem leads to Linear Matrix Inequalities that can be solved thanks to the LMI-lab package (Gahinet (1993)); the LMI-based observer can thus be easily implemented. This observer is then applied to the estimation with bearings-only measurements problem.