Design of reduced-order observers for nonlinear sampled-data strict-feedback systems with actuator dynamics and disturbances

ABSTRACT

We design reduced-order observers for nonlinear sampled-data strict-feedback systems with actuator dynamics and disturbances. First, we use the property of the Euler model of sampled-data systems and the structure of discrete-time observers to design reduced-order observers of the Euler model. Then, we show that the designed observers are semiglobal and practical in T for the exact model. We also give both numerical and practical examples to illustrate the proposed design of reduced-order observers.

KEYWORDS:

• Reduced-order observers
• nonlinear sampled-data systems
• strict-feedback systems
• actuator dynamics
• constant disturbances

Acknowledgments

The author would like to thank the reviewers for their useful comments.

Disclosure statement

No potential conflict of interest was reported by the author.

Additional information

Funding

This work was supported by JSPS Grant-in-Aid for Scientific Research (C) [grant number #16K06412].