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Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems

Pfeifer, Martin; Caspart, Sven; Strehle, Felix; Hohmann, Sören

Abstract (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 Regelungs- und Steuerungssysteme (IRS)
Institut für Algebra und Geometrie (IAG)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2021
Sprache Englisch
Identifikator KITopen-ID: 1000139447
Erschienen in 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, October 11-13, 2021, Berlin, Germany
Veranstaltung 7th Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (IFAC 2021), Berlin, Deutschland, 11.10.2021 – 13.10.2021
Schlagwörter Port-Hamiltonian systems, observer design, nonlinear systems, state estimation, output estimation, system damping
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