Hybrid observers with switched gains enable existing observer design methods to be utilized for these systems. Non-monotonic systems are commonly encountered, but popular observer design methods fail to yield feasible solutions for such systems. Second, the challenges in designing observers for nonlinear systems which are non-monotonic are discussed. First, a new observer design technique that integrates the classical high-gain observer with a novel LPV/LMI observer to provide significant advantages compared to both methods is presented. Abstract: This talk presents recent results in nonlinear observer design and their applications in motion estimation problems ranging from wearable sensors to bicycles.
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