• 대한전기학회논문지:시스템및제어부문D
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• 제53권11호
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• pp.760-767
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• 2004

In this paper, we propose sufficient conditions under which nonlinear systems can be transformed into nonlinear observer canonical form in the extended state space by virtue of dynamic system extension. The proposed scheme weakens two major restrictions of observer error linearization technique. Once a nonlinear system is transformed into nonlinear observer canonical form using dynamic system extension, a state observer can be easily designed. Two illustrative examples are included in order to compare the proposed scheme and observer error linearization method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.207-207
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• 2000

This paper presents an observer for nonlinear systems using approximate observer form. It is shown that if a nonlinear system is approximately error linearizable, then there exists a local nonlinear observer whose estimation error converges exponentially to zero. Since the proposed method relaxes strong geometric conditions of previous works, it improves the existing results for a nonlinear observer design. Finally, some examples are given to show the effectiveness of this scheme.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1150-1158
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• 2004

In this paper, we present an adaptive observer for nonlinear systems that include unknown constant parameters and are not necessarily observable. Sufficient conditions are given for a nonlinear system to be transformed by state-space change of coordinates into an adaptive observer canonical form. Once a nonlinear system is transformed into the proposed adaptive observer canonical form, an adaptive observer can be designed under the assumption that a certain system is strictly positive real. An illustrative example is included to show the effectiveness of the proposed method.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.471-476
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• 2001

This paper presents a state observer for nonlinear systems using approximate observer from. It is shown that if a nonlinear system is approximately error linearizable, then there exists a local nonlinear observer whose estimation error converges exponentially to zero. Since the proposed method relaxes strong geometric conditions of previous works, it improves the existing results for nonlinear observer design. Finally, some example is given to show the effectiveness of this scheme.

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.575-582
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• 2004

The observer design problem is studied for a class of multi-output nonlinear systems that are not necessarily observable. Generalized nonlinear observer canonical form is introduced for multi-output nonlinear systems to design nonlinear observers. Sufficient conditions are given for a nonlinear system to be transformed by state-space change of coordinates into generalized nonlinear observer canonical form. Based on this canonical from, a sufficient condition is also given for the existence of nonlinear observers. An illustrative example is presented to show the design procedure of the proposed method.

• 한국항공운항학회지
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• 제26권2호
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• pp.61-67
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• 2018

This paper presents a method to apply disturbance observer to PID controller for robustness enhancement of UAVs. The system uncertainties and disturbances bring adverse effects on performance and stability of UAVs. In this paper, we estimate the acceleration disturbances using nonlinear disturbance observer, then compensate disturbances with composite controller. By employing nonlinear disturbance observer and composite controller, we have better performance and robustness than conventional PID controller. The asymptotical stability of nonlinear disturbance observer is presented through theoretical analysis. The estimation performance of nonlinear disturbance observer is evaluated by numerical simulation. And performance of disturbance observer based PID controller is evaluated by comparing the performance with conventional PID controller.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.907-914
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• 2004

In this paper, we present a reduced-order observer for a class of nonlinear systems based on the input output linearization. While the most results in the literature presented full-order nonlinear observer, we proposed a procedure for the design of reduced-order observer far nonlinear systems that are not necessarily observable. Assuming that there exists a global observer fer internal dynamics and that certain functions are globally Lipschitz, we can design a global reduced-order observer An illustrative example is included that demonstrate the design procedure of the proposed reduced-order observer.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.125-128
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• 2001

In this paper, We proposed the nonlinear controller and observer design for a ball and beam system. Unfortunately, for the ball and beam system, the control coefficient is zero whenever the angular velocity or ball position are zero. Therefore, the relative degree of the ball and beam system is not well defined. The presented the nonlinear controller and observer design is based on the approximation input-output feedback linearization. And we verified that the proposed nonlinear controller and observer scheme is the feasible through a computer simulation.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.271-278
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• 2005

In this paper, we present an adaptive observer for multi-output nonlinear systems that include unknown constant parameters and are not necessarily observable. Based on generalized nonlinear observer canonical form, new adaptive observer canonical form is proposed. Sufficient conditions are given for a nonlinear system to be transformed into the proposed adaptive observer canonical form. The existence of the proposed adaptive observer is given in terms of Lyapunov-like condition and SPR condition. An illustrative example is presented to show the design procedure of the proposed method.

• 전기학회논문지
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• 제58권2호
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• pp.314-321
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• 2009

In this paper, the robust nonlinear observer will be developed for PEM fuel cell system. Nonlinear model of PEM fuel cell system is introduced to study the design problems of observer. Sliding mode observer is designed to estimate the cathode and anode pressures of PEMFC system. And a nonlinear state observer is also designed to estimate the other states such as supply manifold pressure, Oxygen pressure, Hydrogen pressure, return manifold pressure, etc. The validity of the proposed observer will be verified by using Lyapunov's stability analysis method.