On the existence of KKL observers with nonlinear contracting dynamics (Long Version) - DYnamique, Observation et Commande des Procédés Access content directly
Preprints, Working Papers, ... Year : 2024

On the existence of KKL observers with nonlinear contracting dynamics (Long Version)

Abstract

KKL (Kazantzis-Kravaris/Luenberger) observers are based on the idea of immersing a given nonlinear system into a target system that is a linear stable filter of the measured output. In the present paper, we extend this theory by allowing this target system to be a nonlinear contracting filter of the output. We prove, under a differential observability condition, the existence of these new KKL observers. We motivate their introduction by showing numerically the possibility of combining convergence speed and robustness to noise, unlike what is known for linear filtering.
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Origin : Files produced by the author(s)
Origin : Files produced by the author(s)

Dates and versions

hal-04476312 , version 1 (24-02-2024)
hal-04476312 , version 2 (15-03-2024)

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Victor Pachy, Vincent Andrieu, Pauline Bernard, Lucas Brivadis, Laurent Praly. On the existence of KKL observers with nonlinear contracting dynamics (Long Version). 2024. ⟨hal-04476312v2⟩
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