Abstract:
This paper addresses the problem of estimating
simultaneously the state and input of a nonlinear system
with application to a two link robotic manipulator - the
Pendubot. The system nonlinearity comprises a Lipschitz
function with respect to the state, and a nonlinear term
which is a function of both the state and input. It is shown
that under some conditions, an observer can be designed to
estimate simultaneously the system's state and input.
Simulation and experimental results, obtained around the
inverted equilibrium position, are presented to demonstrate
the validity of the approach.
