Observer Based Linearization of I/O Linearizable MIMO Nonlinear Systems

Abstract

In this paper, instead of trying to establish the design method of general purpose observers, we propose a design method of the special purpose observers which will be used in the feedback linearization of MIMO linearizable nonlinear systems. The basic idea of this method is as follows. We assume there exists an observer and construct a so-called pseudo-linearized model by imposing the observer-based linearizing control law on the original system first and then design the observer. It is striking to note that the nonlinear observer thus obtained possesses a standard linear structure, which makes a practical nonlinear closed-loop control system considerably easy to implement. manipulator case is presented to illustrate the design method. A sufficient condition for Separation Principle in the weak sense that the control design does not influence the observer design, and the observer design does not depend on the new input is also derived.