单输入单输出非线性系统全局有限时间观测器设计

Design of a Global Finite-time Observer for SISO Nonlinear System

对于一类单输入单输出(SISO)具有下三角结构的非线性系统,运用几何齐次理论、Lyapunov稳定性理论和有限时间稳定理论,设计了一个高增益观测器.所设计的观测器由线性部分和非线性部分组成,线性部分保证误差系统全局渐近稳定,非线性部分保证误差系统在有限时间内收敛到原点.仿真实例验证了设计的有效性.

A high gain observer is designed base on homogeneous theory,Lyapunov stable theory and finite-time stable theory for a class of single input/single output（SISO） nonlinear system.The observer consists of a linear part and a nonlinear part.In particular,linear part is designed in order to ensure the global asymptotic stability of error system;while nonlinear part is designed in order to ensure error system converges at zero in finite time.Finally,the effectiveness of the design is verified by a simulation example.