带线性输出的一般非线性系统的观测器设计

Observer design for general nonlinear system with linear output

中文关键词  线性输出  非线性系统  观测器  Lyapunov函数

英文关键词  linear output  nonlinear systems  observer  Lyapunov function

中文摘要

      一般非线性系统的观测器设计一直是控制理论研究的重点.本文针对一类带线性输出的一般非线性系统的观测器设计问题,通过微分中值定理,给出了观测器的一般形式.然后利用构造“观测器Lyapunov函数”,提出了一种较为宽松的一般非线性系统观测器设计方法,并证明其渐进稳定性.针对两个典型的一般非线性系统和双线性系统的分析说明了所给算法是可行的.最后,通过对一个单摆系统的观测器构造方法可以看出该算法是简单的且是易于实现的.

英文摘要

      Observer design for general nonlinear systems is a difficult area of control theory research till now. The problem of observer design for a class of general nonlinear system with linear output was studied. First, the general form of observer was established by differential mean value theorem, then using the "observer Lyapunov function" defined, a relaxed design method for the observer design for general nonlinear systems was offered. The proof of the asymptotical stabilization of the algorithm was also given. Through the analysis of two typical cases of general nonlinear systems and bilinear systems, the main result of the paper was proved to be feasible. Finally, through the construct process of observer design for a single pendulum system, it showed that the given algorithm is simple and easy to realize.