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State and Fault Estimation of a Class of Nonlinear Systems with Slow Internal Dynamics: Asymptotic Decoupling Approach

Abstract : This paper presents an Unknown Input Observer (UIO) for a class of Lipschitz nonlinear systems affected by disturbances/faults and having slow internal dynamics after the decoupling of the Unknown Input (UI). Thanks to the Asymptotic Decoupling notion, the constraint related to the internal dynamics is bypassed. The nonlinear UIO presents time varying dynamics that allows to obtain the Asymptotic Decoupling notion. It will be shown that the proposed approach allows to enhance the convergence rate of the UIO. The convergence enhancement of the state estimation error is demonstrated via a Lyapunov analysis and the established conditions are expressed in terms of Linear Matrix Inequalities. Finally, simulations will be given in order to illustrate the proposed approach with some comparisons to existing techniques.
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https://hal.archives-ouvertes.fr/hal-03281056
Contributor : Frédéric Davesne <>
Submitted on : Thursday, July 8, 2021 - 2:26:44 PM
Last modification on : Monday, July 12, 2021 - 4:01:43 PM

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  • HAL Id : hal-03281056, version 1

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Dalil Ichalal, Saïd Mammar. State and Fault Estimation of a Class of Nonlinear Systems with Slow Internal Dynamics: Asymptotic Decoupling Approach. 4th IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT 2021), Jul 2021, Valencienne, France. ⟨hal-03281056⟩

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