Convergence of Nonlinear Observers on ${\mathbb{R}}^{n}$ With a Riemannian Metric (Part II)

摘要: In [1], it is established that a convergent observer with an infinite gain margin can be designed for given nonlinear system when Riemannian metric showing the differentially detectable (i.e., Lie derivative of along vector field negative in space tangent to output function level sets) and sets are geodesically convex available. this paper, we propose techniques designing satisfying first property case where strongly infinitesimally observable each time-varying linear resulting from linearization solution satisfies uniform observability property) or (i.e. mapping state derivatives injective immersion) Lagrangian. Also, give results complementary those [1]. particular, provide locally make link existence reduced order observer. Examples illustrating presented.