Skip to Main content Skip to Navigation
Conference papers

Observabilty singularities and observer design: dual immersion approach

Abstract : It is well-known that, for nonlinear systems, the observability is often only a local property and depends on the input. Moreover, it is often required that the observer be of the same dimension as the original system. A direct consequence of this requirement is that it enlarges the set of observability singularities. If, on one hand, it is impossible to observe the state variables that are structurally unobservable, it is, however, possible to overcome the observability singularities introduced by the constraints on the observer design. In this paper, we propose a novel dual immersion method which allows to reduce the set of observability singularities. In addition, a step by step design of a high order sliding mode observer based on the proposed dual immersion approach is presented. Finally, a thorough analysis and discussion on the simulation results with respect to a non-autonomous system is given.
Document type :
Conference papers
Complete list of metadata

Cited literature [25 references]  Display  Hide  Download
Contributor : Jean-Pierre Barbot <>
Submitted on : Monday, June 20, 2016 - 12:16:31 PM
Last modification on : Wednesday, April 28, 2021 - 6:37:19 PM
Long-term archiving on: : Thursday, September 22, 2016 - 10:02:59 PM


Files produced by the author(s)


  • HAL Id : hal-01333688, version 1


Kokou Langueh, Octaviana Datcu, Jean-Pierre Barbot, Gang Zheng, K Busawon. Observabilty singularities and observer design: dual immersion approach. 10th IFAC Symposium on Nonlinear Control Systems, NOLCOS, Aug 2016, Monterey, United States. ⟨hal-01333688⟩



Record views


Files downloads