Nonlinear Observers and Applications
The problem of state reconstruction in dynamical systems, known as observer problem, is undoubtedly crucial for controlling or just monitoring processes. For linear systems, the corresponding theory has been quite well established for several years now, a
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Gildas Besançon (Ed.)
Nonlinear Observers and Applications
ABC
Series Advisory Board F. Allgöwer, P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Editor Gildas Besançon Département Automatique, GIPSA-lab (ex-Laboratoire d’Automatique de Grenoble) ENSIEG BP 46 38402 Saint-Martin d’Heres, France Email: [email protected]
Library of Congress Control Number: 2007931052 ISSN print edition: 0170-8643 ISSN electronic edition: 1610-7411 ISBN-10 3-540-73502-X Springer Berlin Heidelberg New York ISBN-13 978-3-540-73502-1 Springer Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. Springer is a part of Springer Science+Business Media springer.com c Springer-Verlag Berlin Heidelberg 2007 The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: by the authors and SPS using a Springer LATEX macro package Printed on acid-free paper
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Preface
This book basically gathers the material of the 28th Grenoble International Summer School on Control, dedicated to ”Nonlinear observers and applications”, organized within the Control Systems Department (former Laboratoire d’Automatique de Grenoble) of the newly formed GIPSA-lab research center, and hosted by the ”Maison Jean Kuntzmann” of the IMAG Institute, in September 2007. The motivation for this school and the present book is twofold: on the one hand, the observer problem is undoubtedly crucial in control systems, and on the other hand there are not so many comprehensive documents on this topic. The present one does not claim to be exhaustive, but can give a good idea on the problem, on the possible tools to get solutions, and on various applications. Its spirit basically follows from the pioneering studies which took place in particular in Grenoble in the early eighties, and the subsequent developments, owing a lot to Guy Bornard and his coworkers. In particular, a general overview on observer tools for nonlinear systems is here proposed, focuses on high gain and adaptive gain techniques are given, as well as immersion and optimization-based approaches. Some applications in control and fault or parameter estimation are finally discussed. I am grateful to all the contributors for their participation in this project. Dr A. Voda, a
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