Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems
Pfeifer, Martin; Caspart, Sven; Strehle, Felix
; Hohmann, Sören
; Hohmann, SörenAbstract (englisch):
In this paper, we present a simple method to design a full-order observer for a class of nonlinear port-Hamiltonian systems (PHSs). We provide a sufficient condition for the observer to be globally exponentially convergent. This condition exploits the natural damping of the system. The observer and its design are illustrated by means of an academic example system. Numerical simulations verify the convergence of the reconstructions towards the unknown system variables.
| Zugehörige Institution(en) am KIT | Institut für Algebra und Geometrie (IAG) Institut für Regelungs- und Steuerungssysteme (IRS) |
| Publikationstyp | Zeitschriftenaufsatz |
| Publikationsjahr | 2021 |
| Sprache | Englisch |
| Identifikator | ISSN: 1474-6670, 2405-8963, 2405-8971, 2589-3653 KITopen-ID: 1000139447 |
| Erschienen in | IFAC-PapersOnLine |
| Verlag | International Federation of Automatic Control (IFAC) |
| Band | 54 |
| Heft | 19 |
| Seiten | 149-154 |
| Bemerkung zur Veröffentlichung | Part of special issue: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021: Berlin, Germany, 11-13 October 2021 |
| Vorab online veröffentlicht am | 19.11.2021 |
| Schlagwörter | Port-Hamiltonian systems, observer design, nonlinear systems, state estimation, output estimation, system damping |
| Nachgewiesen in | Dimensions Scopus |