Modular Design of Discrete-time Nonlinear Observers for State and Disturbance Estimation

This work studies the problem of design of discrete-time nonlinear observers in the presence of exogenous disturbances. In particular, the present work proposes a systematic design method for discrete-time nonlinear state and disturbance observers in modular form, consisting of an observer for the disturbance-free part of the system, along with a disturbance observer and a stateestimate corrector. The modular observer is first defined and characterized in a general setting and then, a systematic design method is developed on the basis of exact linearization with eigenvalue assignment. Necessary and sufficient conditions for feasibility of the proposed nonlinear modular observer design are derived.