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Dettaglio pubblicazione

2019, AUTOMATICA, Pages 178-183 (volume: 106)

An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems (01a Articolo in rivista)

Isidori A., Pyrkin A., Borisov O.

In this paper we show how, by extending a classical Lemma due to Dayawansa, it is possible to enhance the theory of robust extended observers so as to cover a wide class of nonlinear systems, namely those systems whose normal form is characterized by “time-dependent gains” in the “string of integrators between input and output”. Such class includes helicopters, quadrotors, robot arms and electric drives.
Gruppo di ricerca: Networked Systems
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