Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator

Understand

This paper proposes a robust nonlinear observer synthesis method for a population of systems modelled using the Koopman operator.

• The Koopman operator allows nonlinear systems to be rewritten as infinite-dimensional linear systems.
• A finite-dimensional approximation of the Koopman operator can be identified directly from data, yielding an approximately linear model of a nonlinear system.
• The proposed observer synthesis method is made possible by this linearity that in turn allows uncertainty within a population of Koopman models to be quantified in the frequency domain.