Nonlinear Systems and Control

Lecture # 38
Observers
High-Gain Observers
Motivating Example

p. 1/1

x 1 = x2 ,

x 2 = (x, u),

y = x1

Let u = (x) stabilize the origin of

x 1 = x2 ,

x 2 = (x, (x))

Observer:
x
1 = x
2 + h1 (y x
1 ),

x
2 = 0 (
x, u) + h2 (y x
1 )

0 (x, u) is a nominal model (x, u)

x
1 = x1 x
1 ,
x
1 = h1 x
1 + x
2 ,

x
2 = x2 x
2
x
2 = h2 x
1 + (x, x
)

(x, x
) = (x, (
x)) 0 (
x, (
x))

p. 2/1

Design H =

"

h1
h2

such that Ao =

"

h1 1
h2 0

is Hurwitz

Transfer function from to x

:
Go (s) =

1
s2 + h1 s + h2

"

1
s + h1

Design H to make supR kGo (j)k as small as possible

h1 =

Go (s) =

h2 =

2
2

(s)2 + 1 s + 2

>0
"

s + 1

p. 3/1

Go (s) =

(s)2 + 1 s + 2

"

s + 1

Observer eigenvalues are (1 /) and (2 /) where 1 and

2 are the roots of
2 + 1 + 2 = 0
sup kGo (j)k = O()

p. 4/1

1 =

x
1

1 = 1 1 + 2 ,

2 = x
2
2 = 2 1 + (x, x
)

Ultimate bound of is O()

decays faster than an exponential mode eat/ ,

a>0

Peaking Phenomenon:
x1 (0) 6= x
1 (0) 1 (0) = O(1/)

The solution contains a term of the form

1

eat/

eat/ approaches an impulse function as 0

p. 5/1

Example
x 1 = x2 ,

x 2 = x32 + u,

y = x1

State feedback control:

u = x32 x1 x2

Output feedback control:

u =
x32 x
1 x
2
x
1 = x
2 + (2/)(y x
1 )
x
2 = (1/2 )(y x
1 )

p. 6/1

0.5
0

SFB
OFB = 0.1
OFB = 0.01
OFB = 0.005

0.5
1
1.5
2

10

10

0.01

0.02

0.03

0.04

0.05
t

0.06

0.07

0.08

0.09

0.1

1
0
x

1
2
3

100
200
300
400

p. 7/1

 = 0.004
0.2

0
x

0.2
0.4
0.6

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.01

0.02

0.03

0.04

0.05

0.06

0.07

0.08

0.01

0.02

0.03

0.04
t

0.05

0.06

0.07

0.08

200
400
600
2000

1000
0
1000

p. 8/1

u = sat(
x32 x
1 x
2 )
SFB
OFB = 0.1
OFB = 0.01
OFB = 0.001

0.15

x1

0.1
0.05
0
0.05

10

10

0.01

0.02

0.03

0.04

0.05
t

0.06

0.07

0.08

0.09

0.1

0.05

x2

0
0.05
0.1

0
0.5
1

p. 9/1

Region of attraction under state feedback:

2

x2

2
3

0
x1

p. 10/1

Region of attraction under outputfeedback:

x2

0.5

0.5

1.5

0.5

0
x1

0.5

1.5

= 0.1 (dashed) and = 0.05 (dash-dot)

p. 11/1

Analysis of the closed-loop system:

x 1 = x2
1 = 1 1 + 2

x 2 = (x, (x x
))
2 = 2 1 + (x, x
)
6
q
D
D

D
D
D

O(1/)
q
D
D

D
D

D
D
D
O()
D
D
W W

b 
c

p. 12/1

What is the effect of measurement noise?

The high-gain observer is an approximate differentiator
Transfer function from y to x
(with 0 = 0):
"
#
" #
2
1 + (1 /2 )s
1

as 0
2
s
s
(s) + 1 s + 2
Differentiation amplifies the effect of measurement noise
y = x1 + v,

kn = sup |v(t)| <

t0

p. 13/1

1.1
1
0.9

the error bound

0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1

opt = O

kn
kd

0.02

0.04

0.06
0.08
0.1
0.12
the highgain parameter epsilon

kd = sup |
x1 (t)|,
t0

0.14

0.16

kn = sup |v(t)|
t0

p. 14/1