Course content

The course is held every second year, next time in the Spring 2012.
Design of observers for nonlinear dynamic systems, including:
Definitions and properties of observability: Reachability, weak detectability, zero-state detectability, observability, local Lie Null-observability and unboundedness observability. The observer linearization problem, filter structures (output injection, reduce-order
observers, Luenberger observers, PID observers), nonlinear separation principles and design methods. The course will be held in English.

Learning outcome

The course will provide a theoretic foundation and skills in design of observers for nonlinear systems based on analysis of the system and its observability properties.

Learning methods and activities

Study groups and optional problem sets. Project with report.

Compulsory assignments

• Project work

Recommended previous knowledge

The course TK4150 Nonlinear Control Systems. The course TK8103 Advanced Nonlinear Systems is an advantage, but not a prerequisite.

Course materials

A collection of papers, which will be given at the beginning of the semester.