Finite-Time Convergent Observer for A Class of Nonlinear Systems Using Homogeneous Method

Abstract — This paper develops nonlinear observers by using the newly developed homogeneous observer for a class of lower-triangular nonlinear systems whose solution trajectories are bounded. We show that the estimated states of the proposed observer can converge to the real states in a finite time for small initial estimation errors. We also show that by adjusting the observer gain the required range of the initial estimation errors can be expanded. I