Expression of the dynamics of the observer in the system coordinates

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Expression of the dynamics of the observer in the system coordinates

Observers for permanent magnet synchronous motors with unkown parameters

Quick review of existing normal forms and their observers

Table of contents :

1 Introduction
2 Nonlinear observability and observer design problem
2.1 Observation problem
2.2 Observability and observer design for nonlinear systems
2.3 Organization of the thesis
I Normal forms and their observers
3 Quick review of existing normal forms and their observers
3.1 State-affine normal forms
3.2 Triangular normal forms
3.3 Conclusion
4 Observers for the continuous triangular form
4.1 High gain observer ?
4.2 Homogeneous observer
4.3 Cascade of observers
4.4 Relaxing the assumptions marked with (.)
4.5 Illustrative example
4.6 Conclusion
II Transformation into a normal form
5 Review of existing transformations
5.1 Transformations into a state-affine normal forms
5.2 Transformations into triangular normal forms
5.3 Conclusion
6 Transformation into a continuous triangular form
6.1 Presentation of the problem
6.2 Existence of gi satisfying (6.5)
6.3 Lipschitzness of the triangular form
6.4 Back to Example 4.5 in Chapter
6.5 Conclusion
7 Transformation into a Hurwitz form
7.1 Time-varying transformation
7.2 Examples
7.3 Stationary transformation ?
4 Contents
7.4 Conclusion
III Expression of the dynamics of the observer in the system coordinates
8 Motivation and problem statement
8.1 Example
8.2 Problem statement
9 Around Problem 1 : augmenting an injective immersion into a diffeomorphism
9.1 Submersion case
9.2 The ˜ P[d, dx] problem
9.3 Wazewski’s theorem
10 Around Problem 2 : image extension of a diffeomorphism
10.1 A sufficient condition
10.2 Proof of part a) of Theorem 10.1.1
10.3 Application : bioreactor
10.4 Conclusion
11 Generalizations and applications
11.1 Modifying and ‘T given by Assumption O
11.2 A global example : Luenberger design for the oscillator
11.3 Generalization to a time-varying
11.4 Conclusion
IV Observers for permanent magnet synchronous motors with unkown parameters
12 Short introduction to PMSMs
13 Rotor position estimation with unknown magnet flux
13.1 Gradient observer
13.2 Alternative path
13.3 Performances
13.4 Tests with real data
13.5 Conclusion
14 Rotor position estimation with unknown resistance
14.1 Observability
14.2 Observer design
14.3 Simulations
14.4 Conclusion
Bibliography