An observation algorithm for nonlinear systems with unknown inputs

Jean-Pierre Barbot (1, 2) , Driss Boutat (3) , Thierry Floquet (4, 5)

1 ECS - Equipe Commande des Systèmes
2 ALIEN - Algebra for Digital Identification and Estimation
3 LVR - Laboratoire de Vision et Robotique
4 NON-A - Non-Asymptotic estimation for online systems
5 SyNeR - Systèmes Non Linéaires et à Retards

This paper provides some new developments in the design of unknown input observers for nonlinear systems. An algorithm which states if the state and the unknown input of the system can be recovered in finite time is introduced. This algorithm leads to the transformation of the system into an extended block triangular observable form suitable for the design of finite time observers. The proposed method is useful to relax some restrictive conditions of existing nonlinear unknown input observer design procedures.

Domaines: Automatique

Jean-Pierre Barbot, Driss Boutat, Thierry Floquet. An observation algorithm for nonlinear systems with unknown inputs. Automatica, 2009, 45 (8), pp.1970-1974. ⟨10.1016/j.automatica.2009.04.009⟩. ⟨inria-00391819⟩