
High-gain observers proved to be a useful tool in the design of output feedback control of nonlinear systems. However, the observer faces a numerical challenge when its dimension is high. For an observer of dimension ρ and a high-gain parameter k, the observer gain is of the order of kρ and the observer variables could be of the order of kρ−1 during the transient period. This paper presents a new high-gain observer that is based on cascading lower-dimensional observers with saturation functions in between them. In the new observer, the gains and variables are of the order of k. It is shown that the cascade observer has properties similar to the standard one.
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