The bounded Jacobian approach to nonlinear observer design

G. Phanomchoeng, Rajesh Rajamani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations


This paper presents a new observer design technique for a nonlinear system with a globally (or locally) bounded Jacobian. The approach utilized is to use the mean value theorem to express the nonlinear error dynamics as a convex combination of known matrices with time varying coefficients. The observer gains are then obtained by solving linear matrix inequalities (LMls). The developed approach can enable observer design for a large class of differentiable nonlinear systems. its advantage is that it enables easy observer design for a much wider range of operating conditions compared to linear or Lipschitz observer design methods. The use of the observer design technique is illustrated for estimation of vehicle roll angle in an automotive system involving a complex nonlinearity. The performance of the new observer is shown to be clearly superior to that of a standard Lipschitz observer.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010


Other2010 American Control Conference, ACC 2010
Country/TerritoryUnited States
CityBaltimore, MD


Dive into the research topics of 'The bounded Jacobian approach to nonlinear observer design'. Together they form a unique fingerprint.

Cite this