# Extended Luenberger Observer for nonlinear system control

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Herman (who commented for this posting) told me that there are two different versions of ELO. One is just to linearize a nonlinear function (this posting will handle it), and the other is using Lie-algebraic approach (refer to M. Zeitz 1987 “The extended Luenberger Observer”).

Thank you Herman.

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This article is to explain the use of Luenberger observer for nonlinear system control. In other words, it is Extended Luenberger Observer, (ELO, just like Kalman Filter (KF), and Extended KF).

The basic idea is to linearize nonlinear system around the interesting point. The below is the description of ELO and how to select gain values for Extended Luenberger Observer. The below description assumes that you already know about Luenberger Observer for linear system. If you don’t know visit here.

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I am Youngmok Yun, and writing about robotics theories and my research.

My main site is http://youngmok.com, and Korean ver. is  http://yunyoungmok.tistory.com.

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# Feedback linearization control (FBL) for nonlinear system control proof, practical implementation, and easy example part 2

This article explains about Feedback linearization control (FBL) method for control of a nonlinear system. By demonstrating a control strategy of the inverted pendulum problem, I am going to explain how to implement its algorithm into a real system. The basic idea is that we can cancel control input by manipulating control input. The below is its practical implementation method and example.

If you want to know the proof of feedback linearization control method. refer this.

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I am Youngmok Yun, and writing about robotics theories and my research.

My main site is http://youngmok.com, and Korean ver. is  http://yunyoungmok.tistory.com.

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