Design of a nonlinear observer using automatic differentiation | Zendy

Winkler Jan | Zendy; Lindert SvenOlaf | Zendy; Röbenack Klaus | Zendy; Rudolph Joachim | Zendy

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Design of a nonlinear observer using automatic differentiation

Author(s) -

Winkler Jan,

Lindert SvenOlaf,

Röbenack Klaus,

Rudolph Joachim

Publication year - 2004

Publication title -

pamm

Language(s) - English

Resource type - Journals

ISSN - 1617-7061

DOI - 10.1002/pamm.200410055

Subject(s) - observer (physics) , control theory (sociology) , linearization , observable , nonlinear system , trajectory , coordinate system , transformation (genetics) , automatic differentiation , computer science , mode (computer interface) , mathematics , control engineering , engineering , control (management) , algorithm , artificial intelligence , physics , chemistry , biochemistry , quantum mechanics , astronomy , computation , gene , operating system

Observer design for a class of observable nonlinear systems is considered. By a coordinate transformation and linearization around a desired trajectory the problem is reduced to the design for a linear time varying system. Calculation of the observer gain, depending on the desired trajectory, requires several derivatives. These are calculated using automatic differentiation by a combination of forward and reverse mode. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)

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