Observer Design for Robotic Systems via Takagi–Sugeno Models and Linear Matrix Inequalities

  • Víctor Estrada-ManzoEmail author
  • Zsófia Lendek
  • Thierry-Marie Guerra
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 42)


This chapter presents a systematic procedure to design observers for mechanical systems. In general, the state space representation of such systems can be naturally expressed as nonlinear descriptor models. The idea is to rewrite the original nonlinear model as a Takagi–Sugeno one and use Lyapunov’s direct method for observer design. This procedure leads to conditions in form of linear matrix inequalities. Two different observer configurations are analysed. The performances of the observers are illustrated on mobile robot.



This work is supported by the Ministry of Higher Education and Research, France, the CNRS, the Nord-Pas-de-Calais Region, and a grant of the Romanian National Authority for Scientific Research, CNCS – UEFISCDI, project number PN-II-RU-TE-2014-4-0942, contract number 88/01.10.2015. The authors gratefully acknowledge the support of these institutions.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Víctor Estrada-Manzo
    • 1
    Email author
  • Zsófia Lendek
    • 2
  • Thierry-Marie Guerra
    • 1
  1. 1.University of Valenciennes and Hainaut-CambresisValenciennesFrance
  2. 2.Department of AutomationTechnical University of Cluj-NapocaCluj-NapocaRomania

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