A Reduced-order Observer-predictor for Nonlinear Systems with Delayed Measurements
Résumé
The purpose of this work is to propose and characterize reduced-order nonlinear continuous observers coupled with an output predictor for a particular class of nonlinear systems with delayed measurements. Using a small gain approach, we provide sufficient conditions, involving the delay, which ensure an exponential convergence of both observer and predictor. An explicit bound on the maximum allowable delay guaranteeing stability of this observer-predictor is given. A simple procedure design for the observer is described and illustrated on a numerical example.