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Laboratoire dAutomatique de Grenoble
ENSIEG BP 46 - 38402 Saint-Martin dH`eres, France
Gildas.Besancon@inpg.fr
IRISA-INRIA, Campus de Beaulieu 35042 Rennes Cedex, France
zhang@irisa.fr
Universite Claude Bernard, Lyon I 69622 Villeurbanne Cedex, France
hammouri@lagep.cpe.fr
(i1 (x1 [i], u), .. ini 1 (x1 [i], ..xni 1 [i], u),
ini (x[i], x[j], u))T , j 6= i,
4. ILLUSTRATIVE EXAMPLES
and i (x, u) is as in (7).
[A20 ] The same as [A2]; As a first example, let us consider the single output
[A30 ] Given some Ki making Ai Ki Ci to be a stable system described by:
matrix for i = 1, 2, inputs u are such that the state
x 1 = x2 + u
vector satisfies the following property:
x 2 = x1 2sin(x2 ) + arctan(x2 )1
for any x(0) 0 , and any i (0) IRni q , the
+cos(x1 x2 )2
solutions i (t) of:
y = x1
i = i (Ai Ki Ci )i + i i (x, u) (22)
1 1
where u(t) = sin(2t) + 10 cos(10t), x(0) =
1
is such that for some t0 0:
1 1
and = = .
i , Ti independent of i : t t0 , 2 2
and for i large enough, Here the system is clearly under the form (9) and thus
t+T
Z i (23) one can design an observer (12). Results obtained with
i ( )T CiT Ci i ( )d i I. = 10 are shown by figure 1 for state estimation, and
figure 2 for parameter estimation. From those figures,
t
it can be seen that the expected estimation is achieved.
0.2
0.4
and any (0), (0) respectively bounded by and X,
x x 1 x1 , x
Fig. 1. State estimation errors ( 2 x2 ).
k k exponentially go to zero:
x(t) x(t)k and k(t)
(t) + (
= (A KC)(t) x(t), u(t)) 2.5
x
(t) = A x(t) + (
x(t), u(t)) + (
x(t), u(t))(t) 2
2
1 T T
+ () [K + (t) (t)C ][y(t) C x (t)] 1.5
T T 1
(t) = I (t) C [y(t) C x (t)] (24) 1
x
=x
x if k
xk X, X otherwise, 0.5
k
xk 0
0 10 20 30 40 50 60
= if kk
, otherwise. Fig. 2. Parameter estimation(1 vs 1 , 2 vs 2 ).
kk
K1 0 1 0
with K = , = , i as
0 K2 0 2 As a second example, let us consider the problem of
in
(4), Ki making Ai Ki Ci to be stable, and I = identifying parameters in a system represented by the
n1 I 0 following input-output relationship:
.
0 n2 I
y (2) = sin(y y)
+ cos(y u) 2 2 .
1 + uu
Lemma 3.1 indeed clearly applies to each subvector Here by considering for instance some piecewise
x[i] of x. linear approximation of the previous input function
1
Then
notice that by choosing = max(1 , 2 ), = u(t) = sin(2t) + 10 cos(10t),
the system can be
1 y u
with i as in (22), satisfies a property (23), and written as (6) (with x[1] = and x[2] = ).
2 y u
An observer (24) can then be designed so as to get Carroll, R.L. and D.P. Lindorff (1973). An adap-
u)
estimations of 1 , 2 (and y, from the only measure- tive observer for single input single output lin-
ment of y, u. ear systems. IEEE Trans. on Automatic Control
Simulation results obtained with = 40 are given in 18(5), 428435.
figure 3 (where 1 = 10, 2 = 5). Cho, Y.M. and R. Rajamani (1997). A systematic ap-
proach to adaptive observer synthesis for nonlin-
12
ear systems. IEEE Trans. on Automatic Control
10
42(4), 534537.
8
6
1 Ciccarella, G., M. Dalla Mora and A. Germani (1993).
4
A luenberger-like observer for nonlinear systems.
2
0
Int. Journal of Control 57, 537556.
Gauthier, J.P. and G. Bornard (1981). Observability
2
2
4
for any u(t) of a class of nonlinear systems. IEEE
6
0 10 20 30 40 50 60
Trans. on Automatic Control 26(4), 922926.
Fig. 3. Parameter identification (1 vs 1 , 2 vs 2 ). Gauthier, J.P., H. Hammouri and S. Othman (1992).
A simple observer for nonlinear systems - appli-
cations to bioreactors. IEEE Trans. on Automatic
Control 37(6), 875880.
Kreisselmeier, G. (1977). Adaptive observers with
5. CONCLUSION exponential rate of convergence. IEEE Trans. on
Automatic Control 22, 28.
In this paper, an adaptive version of the well-known Ljung, L. and T. Glad (1994). On global identifiability
high gain observer for nonlinear systems has been pro- for arbitrary model parametrizations. 30, 265
posed, as an extension of previous results of (Zhang, 276.
2002; Zhang et al., 2003) in two directions: the un- Luders, G. and K.S. Narendra (1973). An adaptive
known parameters enter the system through state- observer and identifier for a linear system. IEEE
dependent functions on the one hand, and a particular Trans. on Automatic Control 18(5), 496499.
multi-output case has been considered, motivated by a Marino, R. (1990). Adaptive observers for single out-
possible state-space representation of nonlinear input- put nonlinear systems. IEEE Trans. on Automatic
output models. Control 35(9), 10541058.
Martinez, J. Correa and A. Poznyak (2001). Switch-
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