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Computation of high-gain observers for nonlinear systems using automatic differentiation

Klaus Robenack
Journal / Anthology

Transactions of the ASME
Year: 2005
Volume: 127
Issue: March
Page range: 160-162

The designs of high-gain observers using the observability canonical form is reviewed. Up to the preset, gradients of Lie derivatives required by the design algorithms have been computed symbolically. A symbolic computation of the observer gain yields quite often extremely large expressions, even for systems of moderate dimension and complexity. We show how automatic differentiation may be used to compute the observer gain.

*Engineering > Mechanical and Structural Engineering
*Mathematics > Algebra > Linear Algebra
*Mathematics > Calculus and Analysis > Differential Equations

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