| Title |
A Nonlinear Reduced Order Observer Design and Its Application to Ball and Beam System |
| Keywords |
Nonlinear System ; Reduced-order Observer ; Robust Relative Degree ; Ball and Beam System |
| Abstract |
In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers. |