Nonlinear Systems and Control

Lecture # 24

Observer, Output Feedback

&
Strict Feedback Forms

p. 1/1
Definition: A nonlinear system is in the observer form if

x = Ax + (y, u), y = Cx

where (A, C) is observable

Observer:

x = Ax + (y, u) + H(y C x)

x = x x

x = (A HC)x
Design H such that (A HC) is Hurwitz

p. 2/1
Theorem: An n-dimensional single-output (SO) system

x = f (x) + g(x)u, y = h(x)

is transformable into the observer form if and only if there is

a domain D0 such that

 
rank (x) = n, x D0
x
h iT
where = h, Lf h, Ln1
f h

and the unique vector field solution of

h iT
= b, where b = 0, 0, 1
x
p. 3/1
satisfies
j
[adif , adf ] = 0, 0 i, j n 1

and
j
[g, adf ] = 0, 0j n2
The change of variables z = T (x) is given by
T h i
1 , 2 , n =I
x
where
i = (1)i1 adi1
f , 1in

p. 4/1
Example
" # " #
1 (x1 ) + x2 0
x = + u, y = x1
f2 (x) 1
" # " #
h(x) x1
(x) = =
Lf h(x) 1 (x1 ) + x2
" #

 
1 0
= 1 ; rank (x) = 2, x
x x1 1 x
" # " #
0 0
= =
x 1 1

p. 5/1
 " #" # " #
f 1 0 1
adf = [f, ] = = f2 = f2
x x2 1 x2
" #" #
(adf ) 0 0 0
[, adf ] = = 2 f2 2 f2
x x1 x2 x22 1

2 f2
[, adf ] = 0 = 0 f2 (x) = 2 (x1 )+x2 3 (x1 )
x22
[g, ] = 0 (g and are constant vector fields)
All the conditions are satisfied

p. 6/1
 " #
0 0
1 = (1) ad0f = =
1
" #
1 1
2 = (1) ad1f = adf =
3 (x1 )
T h i
1 , 2 =I
x
" #" # " #
T1 T1
x1 x2 0 1 1 0
T2 T2 =
x1 x2
1 3 (x1 ) 0 1
T1 T1 T1
x2
= 1, x1
+ 3 (x1 ) x 2
=0

T2 T2 T2
x2 = 0, x1 + 3 (x1 ) x 2
=1

p. 7/1
 T1 T1
x2
=1 x1
+ 3 (x1 ) = 0
R x1
T1 (x) = x2 0 3 () d

T2 T2
x2
=0 x1
= 1, T2 (x) = x1
Z x1
z1 = x2 3 () d, z2 = x1
0
y = z2
" # " #
0 0 2 (y) 1 (y)3 (y) + u
z = z+ Ry
1 0 0 3 () d + 1 (y)
h i
y = 0 1 z

p. 8/1
Definition: A nonlinear system is in the output feedback
form if

x1 = x2 + 1 (y)
x2 = x3 + 2 (y)
..
.
x1 = x + 1 (y)
x = x+1 + (y) + bm u, bm > 0
..
.
xn1 = xn + n1 (y) + b1 u
xn = n (y) + b0 u
y = x1

p. 9/1
Show that
The output feedback form is a special case of the
observer form

It has relative degree

It is minimum phase if the polynomial

bm sm + + b1 s + b0

is Hurwitz

p. 10/1
Definition: A nonlinear system is in the strict feedback form
if

x = f0 (x) + g0 (x)z1
z1 = f1 (x, z1 ) + g1 (x, z1 )z2
z2 = f2 (x, z1 , z2 ) + g2 (x, z1 , z2 )z3
..
.
zk1 = fk1 (x, z1 , . . . , zk1 ) + gk1 (x, z1 , . . . , zk1 )zk
zk = fk (x, z1 , . . . , zk ) + gk (x, z1 , . . . , zk )u

x Rn , z1 to zk are scalars
gi (x, z1 , . . . , zi ) 6= 0 for 1 i k

p. 11/1
Find the relative degree if y = z1

Find the zero dynamics if y = z1 and

fi (x, 0) = 0, 1ik

p. 12/1