Nonlinear observers for perspective time-invariant linear systems

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Description

Perspective dynamical systems arise in machine vision, in which only perspective observation is available. This paper proposes and studies a Luenberger-type nonlinear observer for perspective time-invariant linear systems. Assuming a given perspective time-invariant linear system to be Lyapunov stable and to satisfy some sort of detectability condition, it is shown that the estimation error converges exponentially to zero. Finally, a simple numerical example is presented to illustrate the result obtained.

Journal

  • Automatica

    Automatica 40 481-490, 2004-03-01

    Elsevier BV

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