Premium
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)