Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems

Authors

Martin Pfeifer, Sven Caspart, Felix Strehle, Sören Hohmann

Abstract

In this paper, we present a simple method to design a full-order observer for a class of nonlinear port-Hamiltonian systems (PHSs). We provide a sufficient condition for the observer to be globally exponentially convergent. This condition exploits the natural damping of the system. The observer and its design are illustrated by means of an academic example system. Numerical simulations verify the convergence of the reconstructions towards the unknown system variables.

Keywords

Port-Hamiltonian systems; observer design; nonlinear systems; state estimation; output estimation; system damping

Citation

• Journal: IFAC-PapersOnLine
• Year: 2021
• Volume: 54
• Issue: 19
• Pages: 149–154
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2021.11.070
• Note: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021- Berlin, Germany, 11-13 October 2021

BibTeX

@article{Pfeifer_2021,
  title={{Full-Order Observer Design for a Class of Nonlinear Port-Hamiltonian Systems}},
  volume={54},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2021.11.070},
  number={19},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Pfeifer, Martin and Caspart, Sven and Strehle, Felix and Hohmann, Sören},
  year={2021},
  pages={149--154}
}

Download the bib file

References

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