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- Title
Computation of the observer gain for extended Luenberger observers using automatic differentiation.
- Authors
RÖBENACK, KLAUS
- Abstract
For a given nonlinear system, the extended Luenberger observer providesnearly exact error dynamics. In contrast to the normal form observer,the extended Luenberger observer exists even if the associated integrabilitycondition is violated. Up to now, Lie derivatives and Lie bracketsrequired by the design procedure have been computed symbolically.Even for systems with moderate size and complexity, one usually obtainsextremely large expressions for the observer gain. The design of anextended Luenberger observer based on symbolic differentiation is notfeasible for complicated or large‐scale systems. In this paper wediscuss a new approach to compute the observer gain. Our approachis based on a computation method for derivatives called automaticdifferentiation. In contrast to numeric differentiation by means ofdivided differences, automatic differentiation incurs no truncationerrors.
- Subjects
NONLINEAR systems; PARTIAL differential equations; MATHEMATICS; POINCARE maps (Mathematics); POLYNOMIALS
- Publication
IMA Journal of Mathematical Control & Information, 2004, Vol 21, Issue 1, p33
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/21.1.33