From Continuous-Time Design to Sampled-Data Design of Nonlinear Observers

TL;DR

This paper presents a method for designing sampled-data nonlinear observers by combining continuous-time design with an inter-sample output predictor, ensuring robustness under certain sampling conditions.

Contribution

It introduces a hybrid sampled-data observer design that inherits robustness properties from continuous-time designs for nonlinear systems.

Findings

Robustness is maintained for sufficiently small sampling periods.

The approach applies to linear and triangular Lipschitz systems.

The method bridges continuous and discrete-time observer design.

Abstract

In this work, a sampled-data nonlinear observer is designed using a continuous-time design coupled with an inter-sample output predictor. The proposed sampled-data observer is a hybrid system. It is shown that under certain conditions, the robustness properties of the continuous-time design are inherited by the sampled-data design, as long as the sampling period is not too large. The approach is applied to linear systems and to triangular globally Lipschitz systems.