Observer Linearization for Nonlinear Systems Using Piecewise Multi Linear Model

— This paper proposes an observer design for piecewise nonlinear systems via observer linearization. The model is a piecewise multi-linear (PML) system, a nonlinear approximation, and fully parametric. Feedback linearization is applied to stabilize PML control system. However, since exact observer linearized conditions are more conservative than exact feedback linearized ones, the exact observer linearization can be applied to only a few nonlinear systems. This paper shows the PML model based linearized observer can be applied to a wider system than the conventional one. We apply the proposed method to TORA (Translational Oscillator with Rotating Actuator) system which is one of the benchmark problem for nonlinear control. Example is shown to confirm the feasibility of our proposals by computer simulation.