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Design of a nonlinear observer using automatic differentiation

  1. Jan Winkler*,
  2. Sven-Olaf Lindert,
  3. Klaus Röbenack,
  4. Joachim Rudolph

Article first published online: 24 NOV 2004

DOI: 10.1002/pamm.200410055

Issue

PAMM

PAMM

Volume 4, Issue 1, pages 147–148, December 2004

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How to Cite

Winkler, J., Lindert, S.-O., Röbenack, K. and Rudolph, J. (2004), Design of a nonlinear observer using automatic differentiation. Proc. Appl. Math. Mech., 4: 147–148. doi: 10.1002/pamm.200410055

Author Information

  1. Technische Universität Dresden, Institut für Regelungs- und Steuerungstheorie, D – 01062 Dresden

*Phone: +49 351 463 33421, Fax: +49 351 463 37281

Publication History

  1. Issue published online: 24 NOV 2004
  2. Article first published online: 24 NOV 2004

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Abstract

Observer design for a class of observable nonlinear systems is considered. By a coordinate transformation and linearization around a desired trajectory the problem is reduced to the design for a linear time varying system. Calculation of the observer gain, depending on the desired trajectory, requires several derivatives. These are calculated using automatic differentiation by a combination of forward and reverse mode. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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