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Index
β -exponentially stabilizable, 32
ε -convergence, 199, 200
r linear functions, 51
order r(v − 1), 51
Absolute value, 118
Additive disturbances, 19
Additive noise, 14
Adjacent output, 203
Adjugate matrix, 74, 80
Arbitrary full-row rank matrix: R, 66, 67,
110, 111
(n − p − γ ) rows, 68, 69
Arbitrary prescribed error rate, 55
Arbitrary specified eigenvalues, 110
Asymptotic convergence, 19, 24, 30, 33,
36–39, 50, 52, 53, 82, 86, 103, 110,
131, 169
Asymptotic estimate, 51
Asymptotic stability, 11
Asymptotically stable, 21, 26, 30, 31, 43,
189
Augmented state vector, 47, 153, 165
Augmented system, 10, 107
Auxiliary dynamical system, 1
Block-diagonal matrix, 77, 107
Block-row, 105
Bounded disturbances, 191
Canonical, 12, 69
Centralized control, 104
Characteristic equation, 57
Characteristic polynomial, 11, 74, 75
Closed-loop system, 6, 10, 11, 51, 53, 106
Coefficients, 75
recursive, 75
Combined state/input observer, 46
Common disturbance decoupled observer, 2,
116
Common functional observer, 118
Common observer, 117
Communication channels, 104
Compensator, 7
Completely decoupled, 58
Complex s-plane, 6, 11, 13, 15, 21, 44, 60
Complex conjugate, 74
Composite closed-loop system, 54
Composite system, 10
Conjugate eigenvalues, 75
Constant time delay, 29, 186
Control input vector, 5, 18, 46, 102
Control law, 11, 54
Control signal, 51, 106
Control stations, 104, 105
Controllable, 7, 11, 131
Controller gain, 51
Convergence rate, 32
Coordinate transformation, 29, 81
Coprime factorization, 74, 76, 93, 117
Coprime polynomial matrices, 74, 80, 81,
84, 85, 94
Coupled matrix equations, 41, 54, 58, 66,
73, 76, 83, 88
Darouach, 58
Decentralized
controllers, 105
implementation, 2, 104
214
information structure, 2, 104, 105
reduced-order functional observers, 105
Decentralized dynamic controllers, 106
Decision logic switch, 118
Decomposition
interconnection term, 203
Decomposition of nonlinear function, 3
Lipschitz, 3
Non-Lipschitz, 3
Degree of freedom, 110, 111
Delay dependent, 31, 170
Delay independent, 31
Delay-free, 2
reduced-order state observers, 30, 35
Delay-free functional observers, 102, 104
Delayed information
input, 3, 195
output, 3, 193
Delayed input, 199
Descending ordered observability indices,
77, 78
Descriptor system approach, 46, 47
Descriptor systems, 2, 40, 41, 47
nonlinear functions, 145
reduced-order state observers, 40
time-delay, 165
Detectability, 35, 43, 61, 68, 69, 71, 109,
169
Detectability condition, 26
Detectable, 21, 26, 34, 35, 43, 61, 63, 68,
70, 71, 108
Determinant, 42, 74, 82
Distinct eigenvalues, 73, 74, 90
Distinct stable poles, 98
Disturbance decoupled observers, 18, 88
Dynamic response, 6
Eigenspaces, 67
Eigenvalues, 6, 11, 13, 28, 44, 53, 54, 57,
60, 63, 110
complex, 82, 86
Ellipsoidal bound, 191, 200
Equivalent conditions, 59
Equivalent system, 22
Error dynamics equation, 14, 15, 31, 36,
103, 130, 139, 146, 188, 195
Error functions, 10
Error trajectory, 10
Index
Error vector, 14, 19, 24, 30, 38, 41, 52, 103
derivative, 52
Estimation error, 46
Exact asymptotic estimation, 45
Exponential error convergence, 191
Exponential stability, 31, 32
Factorial, 82
Fault detection and diagnosis, 45
Feasibility
LMI, 32, 37, 39
Feedback control, 51
Finite spectrum assignment, 29
First-order dynamics systems, 45
Fixed matrix, unstable, 197
Fixed pole, 35, 63, 70
Full-column rank matrix, 21, 25, 56, 61, 68,
80, 89, 97, 103
Full-row rank matrix, 50, 66, 67, 69, 71, 73,
76, 80, 96, 103, 110
Functional observability, 66
Functional observers, 47, 49
advantages, 57
definition, 1
order q = (v − 1), 55, 56
order q = qu , 68
Functional reconstructor, 1
Generalized matrix inverse, 56, 138, 157,
191
Generalized Sylvester equation, 2, 51, 53,
72, 89, 99
parametric form, 74
parametric solution, 74, 89
Global state feedback controller, 104, 105
Global state vector, 105
Hale spectral decomposition, 29
High-gain observers, 2, 45, 47
Hurwitz, 9, 20, 24, 33, 41, 52, 54, 88, 103
Identity matrix, 31
Induction, 50
Initial function, 29, 103, 165, 186
Insertion of additional rows, 71
Instantaneous information, 3, 193
Interconnected systems, 3, 88, 200
Interconnection
scalar functional observers, 58, 63, 87
Interconnection term, 203
Index 215

Invertible matrix, 42, 56, 59, 74, 76, 80, 89, Non-singular matrix, 23, 78
96, 108 Nonlinear functions, 36, 129
Lipschitz, 36, 39, 40, 144
Kalman, 1
non-Lipschitz, 144
Least positive integer, 49 Nonlinear systems, 3
Leibniz-Newton, 170 decomposition of the nonlinear function,
Linear Matrix Inequality, 31, 32, 36, 37, 39, 128
132, 133, 140, 148, 193 Lipschitz: full-order state observers, 36
control toolbox, 32, 37 Lipschitz: reduced-order state observers,
Linear systems, 1, 5 37
full-order state observers, 8 observer structure, 128
reduced-order state observers, 13 partial state observers, 128
time delay, 29 Nonlinearities, 2
unknown inputs, 18 Norm, 36, 38, 132
Linearly dependent, 80, 108 Null-space, 14, 23, 60, 67, 89, 95, 97, 202
Linearly independent, 67, 71
Lipschitz constant, 36, 40, 132, 140 Observability index, v, 49, 50, 57, 62, 65,
Lipschitz nonlinear systems, 2, 36, 38, 39, 83, 94
47, 127 Observability matrix, 13
Local input vector, 105 Observability sub-matrices, 77, 79
Local input/output, 104, 203 Observable, 9, 11, 13, 15, 19, 21, 26, 44, 50,
Local output vector, 105 62, 71–73, 101, 105, 109
Lowest possible order, 58, 62, 81, 82, 107 Observable canonical form, 55, 74, 76, 77,
Luenberger, 1, 5, 49, 68 80, 81, 84
full-order state observers, 2, 8, 47 Observer error, 9, 20, 38, 110, 130, 136,
reduced-order state observers, 2, 13, 47 155, 188
Luenberger-type observer, 19 Observer gain matrix, 8, 36, 37
Lyapunov function, 36, 39, 132 Observer matching condition, 92, 94, 98,
derivative, 37, 39, 132 108
Lyapunov functional, 170 Observer matrices, 50, 57
derivative, 171 Observer order
(n + l − p), 46
Matrix inequality, 37, 132, 170
(n − 2p), 72
Measurement/output vector, 18
(n − p), 13, 22, 29, 33, 37, 41
Minimum-order functional observers, 66
n, 8, 19, 36
Modeling uncertainties, 19
q < (v − 1), 79
Modified observer structure, 187, 195, 199
q < r(v − 1), 58
Moore-Penrose inverse, 14, 21, 34, 60, 108,
q = (v − 1), 56
156, 157, 202
q = r, 58
Multi-agent systems, 2, 104
q ≤ (n − p), 50
Multi-functional observers, 2, 58
qu , 67
order q < r(v − 1), 58, 83, 87
qu < min{r(v − 1), (n − p)}, 67
order q = r, 58, 62
r < q < (n − p), 66
order q = r(v − 1), 58
Observer parameters, 54, 63, 70, 72
upper bound, r < q ≤ (n − p), 65
Observer state vector, 19, 102
Multiple delayed information, 187
Observer-controller, 11
Neighboring subsystem, 203 Observers with internal delay, 30
Non-minimum phase, 19, 21, 26, 35, 140, Observers without internal delay, 30, 33–35
160 Open-loop system, 6, 10
216 Index

Order reduction Simultaneous observation, 117

multi-functionals, 58 Single linear function, 51
Orthogonal, 14, 23, 60, 67, 89, 95, 97 order (v − 1), 51
Output injection, 29 order less than (v − 1), 79
Output measurements Singular value decomposition, 23, 67, 103,
derivatives, 45, 46 203
Output vector, 5, 46, 102 Sliding-mode observers, 45
Stability, 10, 11, 31, 39
Parametric approach, 2, 51, 73, 88, 99 Stabilizability, 32
Partial information exchange, 202 Stabilizes, 51, 54
Partial set of the state vector, 50 Stable, 54, 55, 60, 70, 73, 109
Partitioned matrices, 13, 25, 31, 34, 38, 54, Stable complex poles, 86
55, 89 Stable fixed poles, 70
Pole placement, 6, 12, 17, 44, 61 Stable poles, 80, 81, 83, 97
Polynomial/spline functions, 45 State estimation, 1
Positive definite matrix, 31, 32, 36, 39, 133, State feedback, 5, 49
140, 148 control law, 6, 10
Prescribed convergence rate, 55, 71, 73, 102 State observers, 1, 6
Prescribed eigenvalues, 55, 85 full-order, 8
Prescribed location, 70 reduced-order, 13
Prescribed stability, 72, 93 State reconstructor, 12
State vector, 5, 13, 18, 23, 46, 49
Rank, 15, 19, 23, 24, 41, 47, 49, 59, 79, 107,
State-space representation, 5
191
advantages, 5
general result, 89, 90
Subsystems, 200
product of two matrices, 42, 56, 137
Reachable sets, 191, 200
Real matrices, 75, 82, 86 Three coupled matrix equations, 101, 103,
Real-time measurement, 119 104, 106, 107, 126, 189
Reconstruction error, 11 Time constant, 6
Rectangular matrix, 41 Time delay systems, 2, 47, 102
Recursive equations, 56 delay-free functional observers, 102
Reduced-order structure, 50 reduced-order state observers, 29
Row permutation, 76 Time-varying delay, 102, 165, 182
Row vector, 71 Transfer function, 5
Transformation matrix, 14, 16, 41, 69, 84,
Scalar functional observers, 2 85, 115
order q < (v − 1), 73, 79 Transient bound, 46
order q = (v − 1), 55, 56 Transient response, 9, 12
Schur decomposition, 132, 171 Transpose of a matrix, 67
Search algorithm, 80 Triplet, 35
q < (v − 1), 81
Sensor noise, 9 Uncertain time-delay systems, 3
Separation principle, 11, 54, 106, 107 delay-free functional observers, 182
Sequential algorithm, 83 functional observers with internal delays,
Sequential design procedure, 71 173
Similarity transformation, 16 functional observers without internal
Simultaneous estimation, 3, 142 delays, 180
functional observers, 173 Unitary matrix, 129
Reduced-order, 153 Unknown disturbance vector, 18, 46, 88
Index
Unknown input functional observers, 119
Unknown input observers, 18, 45, 107
Unknown input signal
bounded, 45
Unknown inputs, 2, 18, 47
common observer, 116
full-order state observers, 19
217
parametric approach, 88
reduced-order state observers, 22
Unmeasurable state variables, 49, 62
Unmeasured inputs, 45
Unobservable, 51
Unstable fixed poles, 71
Vandermonde matrix, 81
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