Team CONGE

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Section: New Results

Observers

Participants : Jean-Claude Vivalda, Sabeur Ammar, Mohamed Mabrouk.

We studied the genericity of the observability for discrete-time systems written as:

Im13 $\mfenced o={ c=. \mtable{...}$

where xk belongs to a compact manifold and yk is in Im14 $\#8477 ^p$ . Consider the following mapping:

Im15 $\mtable{...}$

where

Im16 $\mtable{...}$

We already prove that mapping $ \Theta$ is, generically, one to one; we recently proved that, generically, it is also an embedding, an article on this subject is in preparation. Another subject of interest is the design of observers for mechanical systems: for some systems with two degrees of freedom, we are able, under some conditions, to exhibit a change of variables which makes the system triangular and allows the construction of an observer which converges exponentially for bounded feedback.


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